Merge branch 'corvuscorax/OP-946_refaktor_sensor_and_state' into corvuscorax/OP-947_stateestimator-module

flight/modules/Attitude/revolution/attitude.c

@@ -64,8 +64,8 @@
 #include "gyrostate.h"
 #include "gyrosensor.h"
 #include "homelocation.h"
-#include "magnetosensor.h"
+#include "magsensor.h"
-#include "magnetostate.h"
+#include "magstate.h"
 #include "positionstate.h"
 #include "ekfconfiguration.h"
 #include "ekfstatevariance.h"
@@ -125,7 +125,7 @@ static void settingsUpdatedCb(UAVObjEvent *objEv);
 
 static int32_t getNED(GPSPositionData *gpsPosition, float *NED);
 
-static void magOffsetEstimation(MagnetoSensorData *mag);
+static void magOffsetEstimation(MagSensorData *mag);
 
 // check for invalid values
 static inline bool invalid(float data)
@@ -167,8 +167,8 @@ int32_t AttitudeInitialize(void)
     GyroStateInitialize();
     AccelSensorInitialize();
     AccelStateInitialize();
-    MagnetoSensorInitialize();
+    MagSensorInitialize();
-    MagnetoStateInitialize();
+    MagStateInitialize();
     AirspeedSensorInitialize();
     AirspeedStateInitialize();
     BaroSensorInitialize();
@@ -224,11 +224,13 @@ int32_t AttitudeStart(void)
     // Start main task
     xTaskCreate(AttitudeTask, (signed char *)"Attitude", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &attitudeTaskHandle);
     PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_ATTITUDE, attitudeTaskHandle);
+#ifdef PIOS_INCLUDE_WDG
     PIOS_WDG_RegisterFlag(PIOS_WDG_ATTITUDE);
+#endif
 
     GyroSensorConnectQueue(gyroQueue);
     AccelSensorConnectQueue(accelQueue);
-    MagnetoSensorConnectQueue(magQueue);
+    MagSensorConnectQueue(magQueue);
     AirspeedSensorConnectQueue(airspeedQueue);
     BaroSensorConnectQueue(baroQueue);
     GPSPositionConnectQueue(gpsQueue);
@@ -282,7 +284,9 @@ static void AttitudeTask(__attribute__((unused)) void *parameters)
             initialization_required = true;
         }
 
+#ifdef PIOS_INCLUDE_WDG
         PIOS_WDG_UpdateFlag(PIOS_WDG_ATTITUDE);
+#endif
     }
 }
 
@@ -331,10 +335,10 @@ static int32_t updateAttitudeComplementary(bool first_run)
         if (xQueueReceive(magQueue, &ev, 0 / portTICK_RATE_MS) != pdTRUE) {
             return -1;
         }
-        MagnetoSensorData magData;
+        MagSensorData magData;
-        MagnetoSensorGet(&magData);
+        MagSensorGet(&magData);
 #else
-        MagnetoSensorData magData;
+        MagSensorData magData;
         magData.x = 100.0f;
         magData.y = 0.0f;
         magData.z = 0.0f;
@@ -430,20 +434,20 @@ static int32_t updateAttitudeComplementary(bool first_run)
         // Rotate gravity to body frame and cross with accels
         float brot[3];
         float Rbe[3][3];
-        MagnetoSensorData mag;
+        MagSensorData mag;
 
         Quaternion2R(q, Rbe);
-        MagnetoSensorGet(&mag);
+        MagSensorGet(&mag);
 
 // TODO: separate filter!
         if (revoCalibration.MagBiasNullingRate > 0) {
             magOffsetEstimation(&mag);
         }
-        MagnetoStateData mags;
+        MagStateData mags;
         mags.x = mag.x;
         mags.y = mag.y;
         mags.z = mag.z;
-        MagnetoStateSet(&mags);
+        MagStateSet(&mags);
 
         // If the mag is producing bad data don't use it (normally bad calibration)
         if (!isnan(mag.x) && !isinf(mag.x) && !isnan(mag.y) && !isinf(mag.y) && !isnan(mag.z) && !isinf(mag.z)) {
@@ -608,7 +612,7 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
     UAVObjEvent ev;
     GyroSensorData gyroSensorData;
     AccelSensorData accelSensorData;
-    MagnetoStateData magData;
+    MagStateData magData;
     AirspeedSensorData airspeedData;
     BaroSensorData baroData;
     GPSPositionData gpsData;
@@ -690,17 +694,17 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
     AccelSensorGet(&accelSensorData);
 // TODO: separate filter!
     if (mag_updated) {
-        MagnetoSensorData mags;
+        MagSensorData mags;
-        MagnetoSensorGet(&mags);
+        MagSensorGet(&mags);
         if (revoCalibration.MagBiasNullingRate > 0) {
             magOffsetEstimation(&mags);
         }
         magData.x = mags.x;
         magData.y = mags.y;
         magData.z = mags.z;
-        MagnetoStateSet(&magData);
+        MagStateSet(&magData);
     }
-    MagnetoStateGet(&magData);
+    MagStateGet(&magData);
 
     BaroSensorGet(&baroData);
     AirspeedSensorGet(&airspeedData);
@@ -856,7 +860,7 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
             }
 
             // xQueueReceive(magQueue, &ev, 100 / portTICK_RATE_MS);
-            // MagnetoSensorGet(&magData);
+            // MagSensorGet(&magData);
 
             AttitudeStateData attitudeState;
             AttitudeStateGet(&attitudeState);
@@ -1158,10 +1162,10 @@ static void settingsUpdatedCb(UAVObjEvent *ev)
 
 /**
  * Perform an update of the @ref MagBias based on
- * Magnetometer Offset Cancellation: Theory and Implementation,
+ * Magmeter Offset Cancellation: Theory and Implementation,
  * revisited William Premerlani, October 14, 2011
  */
-static void magOffsetEstimation(MagnetoSensorData *mag)
+static void magOffsetEstimation(MagSensorData *mag)
 {
    #if 0
     // Constants, to possibly go into a UAVO

flight/modules/Extensions/MagBaro/magbaro.c

@@ -41,7 +41,7 @@
 #include "hwsettings.h"
 #include "magbaro.h"
 #include "barosensor.h" // object that will be updated by the module
-#include "magnetosensor.h"
+#include "magsensor.h"
 #include "taskinfo.h"
 
 // Private constants
@@ -109,7 +109,7 @@ int32_t MagBaroInitialize()
 
     if (magbaroEnabled) {
 #if defined(PIOS_INCLUDE_HMC5883)
-        MagnetoSensorInitialize();
+        MagSensorInitialize();
 #endif
 
 #if defined(PIOS_INCLUDE_BMP085)
@@ -149,7 +149,7 @@ static void magbaroTask(__attribute__((unused)) void *parameters)
 #endif
 
 #if defined(PIOS_INCLUDE_HMC5883)
-    MagnetoSensorData mag;
+    MagSensorData mag;
     PIOS_HMC5883_Init(&pios_hmc5883_cfg);
     uint32_t mag_update_time = PIOS_DELAY_GetRaw();
 #endif
@@ -207,7 +207,7 @@ static void magbaroTask(__attribute__((unused)) void *parameters)
             mag.x = mags[0];
             mag.y = mags[1];
             mag.z = mags[2];
-            MagnetoSensorSet(&mag);
+            MagSensorSet(&mag);
             mag_update_time = PIOS_DELAY_GetRaw();
         }
 #endif

flight/modules/Sensors/sensors.c

@@ -4,7 +4,7 @@
  * @{
  * @addtogroup Sensors
  * @brief Acquires sensor data
- * Specifically updates the the @ref GyroSensor, @ref AccelSensor, and @ref MagnetoSensor objects
+ * Specifically updates the the @ref GyroSensor, @ref AccelSensor, and @ref MagSensor objects
  * @{
  *
  * @file       sensors.c
@@ -32,7 +32,7 @@
 
 /**
  * Input objects: None, takes sensor data via pios
- * Output objects: @ref GyroSensor @ref AccelSensor @ref MagnetoSensor
+ * Output objects: @ref GyroSensor @ref AccelSensor @ref MagSensor
  *
  * The module executes in its own thread.
  *
@@ -49,7 +49,7 @@
 #include <openpilot.h>
 
 #include <homelocation.h>
-#include <magnetosensor.h>
+#include <magsensor.h>
 #include <accelsensor.h>
 #include <gyrosensor.h>
 #include <attitudestate.h>
@@ -73,7 +73,7 @@
 // Private functions
 static void SensorsTask(void *parameters);
 static void settingsUpdatedCb(UAVObjEvent *objEv);
-// static void magOffsetEstimation(MagnetoSensorData *mag);
+// static void magOffsetEstimation(MagSensorData *mag);
 
 // Private variables
 static xTaskHandle sensorsTaskHandle;
@@ -110,7 +110,7 @@ int32_t SensorsInitialize(void)
 {
     GyroSensorInitialize();
     AccelSensorInitialize();
-    MagnetoSensorInitialize();
+    MagSensorInitialize();
     RevoCalibrationInitialize();
     AttitudeSettingsInitialize();
 
@@ -131,7 +131,9 @@ int32_t SensorsStart(void)
     // Start main task
     xTaskCreate(SensorsTask, (signed char *)"Sensors", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &sensorsTaskHandle);
     PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_SENSORS, sensorsTaskHandle);
+#ifdef PIOS_INCLUDE_WDG
     PIOS_WDG_RegisterFlag(PIOS_WDG_SENSORS);
+#endif
 
     return 0;
 }
@@ -201,7 +203,9 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
     if (accel_test < 0 || gyro_test < 0 || mag_test < 0) {
         AlarmsSet(SYSTEMALARMS_ALARM_SENSORS, SYSTEMALARMS_ALARM_CRITICAL);
         while (1) {
+#ifdef PIOS_INCLUDE_WDG
             PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);
+#endif
             vTaskDelay(10);
         }
     }
@@ -216,7 +220,9 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
         timeval = PIOS_DELAY_GetRaw();
 
         if (error) {
+#ifdef PIOS_INCLUDE_WDG
             PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);
+#endif
             lastSysTime = xTaskGetTickCount();
             vTaskDelayUntil(&lastSysTime, SENSOR_PERIOD / portTICK_RATE_MS);
             AlarmsSet(SYSTEMALARMS_ALARM_SENSORS, SYSTEMALARMS_ALARM_CRITICAL);
@@ -377,7 +383,7 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
         // and make it average zero (weakly)
 
 #if defined(PIOS_INCLUDE_HMC5883)
-        MagnetoSensorData mag;
+        MagSensorData mag;
         if (PIOS_HMC5883_NewDataAvailable() || PIOS_DELAY_DiffuS(mag_update_time) > 150000) {
             int16_t values[3];
             PIOS_HMC5883_ReadMag(values);
@@ -396,12 +402,14 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
                 mag.z = mags[2];
             }
 
-            MagnetoSensorSet(&mag);
+            MagSensorSet(&mag);
             mag_update_time = PIOS_DELAY_GetRaw();
         }
 #endif /* if defined(PIOS_INCLUDE_HMC5883) */
 
+#ifdef PIOS_INCLUDE_WDG
         PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);
+#endif
 
         lastSysTime = xTaskGetTickCount();
     }

flight/modules/Sensors/simulated/sensors.c

@@ -4,7 +4,7 @@
  * @{
  * @addtogroup Sensors
  * @brief Acquires sensor data
- * Specifically updates the the @ref GyroSensor, @ref AccelSensor, and @ref MagnetoSensor objects
+ * Specifically updates the the @ref GyroSensor, @ref AccelSensor, and @ref MagSensor objects
  * @{
  *
  * @file       sensors.c
@@ -32,7 +32,7 @@
 
 /**
  * Input objects: None, takes sensor data via pios
- * Output objects: @ref GyroSensor @ref AccelSensor @ref MagnetoSensor
+ * Output objects: @ref GyroSensor @ref AccelSensor @ref MagSensor
  *
  * The module executes in its own thread.
  *
@@ -113,7 +113,7 @@ int32_t SensorsInitialize(void)
     // GyrosBiasInitialize();
     GPSPositionInitialize();
     GPSVelocityInitialize();
-    MagnetoSensorInitialize();
+    MagSensorInitialize();
     MagBiasInitialize();
     RevoCalibrationInitialize();
 
@@ -252,11 +252,11 @@ static void simulateConstant()
 
     // Because most crafts wont get enough information from gravity to zero yaw gyro, we try
     // and make it average zero (weakly)
-    MagnetoSensorData mag;
+    MagSensorData mag;
     mag.x = 400;
     mag.y = 0;
     mag.z = 800;
-    MagnetoSensorSet(&mag);
+    MagSensorSet(&mag);
 }
 
 static void simulateModelAgnostic()
@@ -314,11 +314,11 @@ static void simulateModelAgnostic()
 
     // Because most crafts wont get enough information from gravity to zero yaw gyro, we try
     // and make it average zero (weakly)
-    MagnetoSensorData mag;
+    MagSensorData mag;
     mag.x = 400;
     mag.y = 0;
     mag.z = 800;
-    MagnetoSensorSet(&mag);
+    MagSensorSet(&mag);
 }
 
 float thrustToDegs   = 50;
@@ -528,12 +528,12 @@ static void simulateModelQuadcopter()
     // Update mag periodically
     static uint32_t last_mag_time = 0;
     if (PIOS_DELAY_DiffuS(last_mag_time) / 1.0e6 > MAG_PERIOD) {
-        MagnetoSensorData mag;
+        MagSensorData mag;
         mag.x = homeLocation.Be[0] * Rbe[0][0] + homeLocation.Be[1] * Rbe[0][1] + homeLocation.Be[2] * Rbe[0][2];
         mag.y = homeLocation.Be[0] * Rbe[1][0] + homeLocation.Be[1] * Rbe[1][1] + homeLocation.Be[2] * Rbe[1][2];
         mag.z = homeLocation.Be[0] * Rbe[2][0] + homeLocation.Be[1] * Rbe[2][1] + homeLocation.Be[2] * Rbe[2][2];
 
-        MagnetoSensorSet(&mag);
+        MagSensorSet(&mag);
         last_mag_time = PIOS_DELAY_GetRaw();
     }
 
@@ -811,11 +811,11 @@ static void simulateModelAirplane()
     // Update mag periodically
     static uint32_t last_mag_time = 0;
     if (PIOS_DELAY_DiffuS(last_mag_time) / 1.0e6 > MAG_PERIOD) {
-        MagnetoSensorData mag;
+        MagSensorData mag;
         mag.x = 100 + homeLocation.Be[0] * Rbe[0][0] + homeLocation.Be[1] * Rbe[0][1] + homeLocation.Be[2] * Rbe[0][2];
         mag.y = 100 + homeLocation.Be[0] * Rbe[1][0] + homeLocation.Be[1] * Rbe[1][1] + homeLocation.Be[2] * Rbe[1][2];
         mag.z = 100 + homeLocation.Be[0] * Rbe[2][0] + homeLocation.Be[1] * Rbe[2][1] + homeLocation.Be[2] * Rbe[2][2];
-        MagnetoSensorSet(&mag);
+        MagSensorSet(&mag);
         last_mag_time = PIOS_DELAY_GetRaw();
     }
 

flight/targets/boards/osd/firmware/Makefile

@@ -93,7 +93,7 @@ ifndef TESTAPP
     SRC += $(OPUAVSYNTHDIR)/gpstime.c
     SRC += $(OPUAVSYNTHDIR)/osdsettings.c
     SRC += $(OPUAVSYNTHDIR)/barosensor.c
-    SRC += $(OPUAVSYNTHDIR)/magnetosensor.c
+    SRC += $(OPUAVSYNTHDIR)/magsensor.c
 else
     ## Test Code
     SRC += $(OPTESTS)/test_common.c

flight/targets/boards/revolution/firmware/UAVObjects.inc

@@ -30,8 +30,8 @@ UAVOBJSRCFILENAMES += gyrostate
 UAVOBJSRCFILENAMES += gyrosensor
 UAVOBJSRCFILENAMES += accelstate
 UAVOBJSRCFILENAMES += accelsensor
-UAVOBJSRCFILENAMES += magnetosensor
+UAVOBJSRCFILENAMES += magsensor
-UAVOBJSRCFILENAMES += magnetostate
+UAVOBJSRCFILENAMES += magstate
 UAVOBJSRCFILENAMES += barosensor
 UAVOBJSRCFILENAMES += airspeedsensor
 UAVOBJSRCFILENAMES += airspeedsettings

flight/targets/boards/revolution/firmware/pios_board.c

@@ -391,7 +391,9 @@ void PIOS_Board_Init(void)
         PIOS_IAP_WriteBootCmd(1, 0);
         PIOS_IAP_WriteBootCmd(2, 0);
     }
+#ifdef PIOS_INCLUDE_WDG
     PIOS_WDG_Init();
+#endif
     /* Initialize UAVObject libraries */
     EventDispatcherInitialize();
     UAVObjInitialize();

flight/targets/boards/revolution/firmware/pios_board_sim.c

@@ -35,7 +35,7 @@
 #include <barosensor.h>
 #include <gpsposition.h>
 #include <gyrosensor.h>
-#include <magnetosensor.h>
+#include <magsensor.h>
 #include <manualcontrolsettings.h>
 
 void Stack_Change() {}
@@ -138,7 +138,7 @@ void PIOS_Board_Init(void)
 
     AccelSensorInitialize();
     BaroSensorInitialize();
-    MagnetoSensorInitialize();
+    MagSensorInitialize();
     GPSPositionInitialize();
     GyroSensorInitialize();
 

flight/targets/boards/revoproto/firmware/UAVObjects.inc

@@ -35,8 +35,8 @@ UAVOBJSRCFILENAMES += gyrostate
 UAVOBJSRCFILENAMES += gyrosensor
 UAVOBJSRCFILENAMES += accelstate
 UAVOBJSRCFILENAMES += accelsensor
-UAVOBJSRCFILENAMES += magnetostate
+UAVOBJSRCFILENAMES += magstate
-UAVOBJSRCFILENAMES += magnetosensor
+UAVOBJSRCFILENAMES += magsensor
 UAVOBJSRCFILENAMES += barosensor
 UAVOBJSRCFILENAMES += airspeedsensor
 UAVOBJSRCFILENAMES += airspeedsettings

flight/targets/boards/revoproto/firmware/pios_board_sim.c

@@ -35,7 +35,7 @@
 #include <barosensor.h>
 #include <gpsposition.h>
 #include <gyrosensor.h>
-#include <magnetosensor.h>
+#include <magsensor.h>
 #include <manualcontrolsettings.h>
 
 void Stack_Change() {}
@@ -138,7 +138,7 @@ void PIOS_Board_Init(void)
 
     AccelSensorInitialize();
     BaroSensorInitialize();
-    MagnetoSensorInitialize();
+    MagSensorInitialize();
     GPSPositionInitialize();
     GyroStatInitialize();
     GyroSensorInitialize();

flight/targets/boards/simposix/firmware/UAVObjects.inc

@@ -35,8 +35,8 @@ UAVOBJSRCFILENAMES += gyrostate
 UAVOBJSRCFILENAMES += gyrosensor
 UAVOBJSRCFILENAMES += accelstate
 UAVOBJSRCFILENAMES += accelsensor
-UAVOBJSRCFILENAMES += magnetosensor
+UAVOBJSRCFILENAMES += magsensor
-UAVOBJSRCFILENAMES += magnetostate
+UAVOBJSRCFILENAMES += magstate
 UAVOBJSRCFILENAMES += barosensor
 UAVOBJSRCFILENAMES += barostate
 UAVOBJSRCFILENAMES += airspeedsensor

flight/templates/firmware_info.c.template

@@ -69,7 +69,3 @@ const struct fw_version_info fw_version_blob __attribute__((used)) __attribute__
     .sha1sum            = { ${SHA1} },
     .uavosha1           = { ${UAVOSHA1} },
 };
-
-/**
- * @}
- */

ground/openpilotgcs/share/openpilotgcs/default_configurations/Developer.xml

@@ -2233,7 +2233,7 @@
             <color>4294901760</color>
             <mathFunction>None</mathFunction>
             <uavField>x</uavField>
-            <uavObject>MagnetoState</uavObject>
+            <uavObject>MagState</uavObject>
             <yMaximum>6.92916505601691e-310</yMaximum>
             <yMeanSamples>1</yMeanSamples>
             <yMinimum>3.86203233966055e-312</yMinimum>
@@ -2243,7 +2243,7 @@
             <color>4283782655</color>
             <mathFunction>None</mathFunction>
             <uavField>y</uavField>
-            <uavObject>MagnetoState</uavObject>
+            <uavObject>MagState</uavObject>
             <yMaximum>1.72723371101889e-77</yMaximum>
             <yMeanSamples>1</yMeanSamples>
             <yMinimum>-1</yMinimum>
@@ -2253,7 +2253,7 @@
             <color>4283804160</color>
             <mathFunction>None</mathFunction>
             <uavField>z</uavField>
-            <uavObject>MagnetoState</uavObject>
+            <uavObject>MagState</uavObject>
             <yMaximum>1.72723371102028e-77</yMaximum>
             <yMeanSamples>1</yMeanSamples>
             <yMinimum>7.21478569792807e-313</yMinimum>

ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml

@@ -2264,7 +2264,7 @@
             <color>4294901760</color>
             <mathFunction>None</mathFunction>
             <uavField>x</uavField>
-            <uavObject>MagnetoState</uavObject>
+            <uavObject>MagState</uavObject>
             <yMaximum>0</yMaximum>
             <yMeanSamples>1</yMeanSamples>
             <yMinimum>0</yMinimum>
@@ -2274,7 +2274,7 @@
             <color>4283782655</color>
             <mathFunction>None</mathFunction>
             <uavField>y</uavField>
-            <uavObject>MagnetoState</uavObject>
+            <uavObject>MagState</uavObject>
             <yMaximum>0</yMaximum>
             <yMeanSamples>1</yMeanSamples>
             <yMinimum>0</yMinimum>
@@ -2284,7 +2284,7 @@
             <color>4283804160</color>
             <mathFunction>None</mathFunction>
             <uavField>z</uavField>
-            <uavObject>MagnetoState</uavObject>
+            <uavObject>MagState</uavObject>
             <yMaximum>0</yMaximum>
             <yMeanSamples>1</yMeanSamples>
             <yMinimum>0</yMinimum>

ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS_wide.xml

@@ -2242,7 +2242,7 @@
             <color>4294901760</color>
             <mathFunction>None</mathFunction>
             <uavField>x</uavField>
-            <uavObject>MagnetoState</uavObject>
+            <uavObject>MagState</uavObject>
             <yMaximum>0</yMaximum>
             <yMeanSamples>1</yMeanSamples>
             <yMinimum>0</yMinimum>
@@ -2252,7 +2252,7 @@
             <color>4283782655</color>
             <mathFunction>None</mathFunction>
             <uavField>y</uavField>
-            <uavObject>MagnetoState</uavObject>
+            <uavObject>MagState</uavObject>
             <yMaximum>0</yMaximum>
             <yMeanSamples>1</yMeanSamples>
             <yMinimum>0</yMinimum>
@@ -2262,7 +2262,7 @@
             <color>4283804160</color>
             <mathFunction>None</mathFunction>
             <uavField>z</uavField>
-            <uavObject>MagnetoState</uavObject>
+            <uavObject>MagState</uavObject>
             <yMaximum>0</yMaximum>
             <yMeanSamples>1</yMeanSamples>
             <yMinimum>0</yMinimum>

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

@@ -46,7 +46,7 @@
 #include <homelocation.h>
 #include <accelstate.h>
 #include <gyrostate.h>
-#include <magnetostate.h>
+#include <magstate.h>
 
 #define GRAVITY 9.81f
 #include "assertions.h"
@@ -585,10 +585,10 @@ void ConfigRevoWidget::doStartSixPointCalibration()
 #endif
 
     /* Need to get as many mag updates as possible */
-    MagnetoState *mag = MagnetoState::GetInstance(getObjectManager());
+    MagState *mag = MagState::GetInstance(getObjectManager());
     Q_ASSERT(mag);
-    initialMagnetoStateMdata = mag->getMetadata();
+    initialMagStateMdata = mag->getMetadata();
-    mdata = initialMagnetoStateMdata;
+    mdata = initialMagStateMdata;
     UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
     mdata.flightTelemetryUpdatePeriod = 100;
     mag->setMetadata(mdata);
@@ -624,7 +624,7 @@ void ConfigRevoWidget::savePositionData()
 
     AccelState *accelState = AccelState::GetInstance(getObjectManager());
     Q_ASSERT(accelState);
-    MagnetoState *mag = MagnetoState::GetInstance(getObjectManager());
+    MagState *mag = MagState::GetInstance(getObjectManager());
     Q_ASSERT(mag);
 
     connect(accelState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(doGetSixPointCalibrationMeasurement(UAVObject *)));
@@ -653,10 +653,10 @@ void ConfigRevoWidget::doGetSixPointCalibrationMeasurement(UAVObject *obj)
             accel_accum_y.append(accelStateData.y);
             accel_accum_z.append(accelStateData.z);
 #endif
-        } else if (obj->getObjID() == MagnetoState::OBJID) {
+        } else if (obj->getObjID() == MagState::OBJID) {
-            MagnetoState *mag = MagnetoState::GetInstance(getObjectManager());
+            MagState *mag = MagState::GetInstance(getObjectManager());
             Q_ASSERT(mag);
-            MagnetoState::DataFields magData = mag->getData();
+            MagState::DataFields magData = mag->getData();
             mag_accum_x.append(magData.x);
             mag_accum_y.append(magData.y);
             mag_accum_z.append(magData.z);
@@ -685,7 +685,7 @@ void ConfigRevoWidget::doGetSixPointCalibrationMeasurement(UAVObject *obj)
 #endif
 
         // Store the mean for this position for the mag
-        MagnetoState *mag = MagnetoState::GetInstance(getObjectManager());
+        MagState *mag = MagState::GetInstance(getObjectManager());
         Q_ASSERT(mag);
         disconnect(mag, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(doGetSixPointCalibrationMeasurement(UAVObject *)));
         mag_data_x[position] = listMean(mag_accum_x);
@@ -722,7 +722,7 @@ void ConfigRevoWidget::doGetSixPointCalibrationMeasurement(UAVObject *obj)
 #ifdef SIX_POINT_CAL_ACCEL
             accelState->setMetadata(initialAccelStateMdata);
 #endif
-            mag->setMetadata(initialMagnetoStateMdata);
+            mag->setMetadata(initialMagStateMdata);
 
             // Recall saved board rotation
             recallBoardRotation();
@@ -928,7 +928,7 @@ void ConfigRevoWidget::doStartNoiseMeasurement()
     Q_ASSERT(accelState);
     GyroState *gyroState   = GyroState::GetInstance(getObjectManager());
     Q_ASSERT(gyroState);
-    MagnetoState *mag = MagnetoState::GetInstance(getObjectManager());
+    MagState *mag = MagState::GetInstance(getObjectManager());
     Q_ASSERT(mag);
 
     UAVObject::Metadata mdata;
@@ -945,8 +945,8 @@ void ConfigRevoWidget::doStartNoiseMeasurement()
     mdata.flightTelemetryUpdatePeriod = 100;
     gyroState->setMetadata(mdata);
 
-    initialMagnetoStateMdata = mag->getMetadata();
+    initialMagStateMdata = mag->getMetadata();
-    mdata = initialMagnetoStateMdata;
+    mdata = initialMagStateMdata;
     UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
     mdata.flightTelemetryUpdatePeriod = 100;
     mag->setMetadata(mdata);
@@ -990,11 +990,11 @@ void ConfigRevoWidget::doGetNoiseSample(UAVObject *obj)
         accel_accum_z.append(accelStateData.z);
         break;
     }
-    case MagnetoState::OBJID:
+    case MagState::OBJID:
     {
-        MagnetoState *mags = MagnetoState::GetInstance(getObjectManager());
+        MagState *mags = MagState::GetInstance(getObjectManager());
         Q_ASSERT(mags);
-        MagnetoState::DataFields magData = mags->getData();
+        MagState::DataFields magData = mags->getData();
         mag_accum_x.append(magData.x);
         mag_accum_y.append(magData.y);
         mag_accum_z.append(magData.z);
@@ -1017,7 +1017,7 @@ void ConfigRevoWidget::doGetNoiseSample(UAVObject *obj)
         gyro_accum_x.length() >= NOISE_SAMPLES &&
         accel_accum_x.length() >= NOISE_SAMPLES) {
         // No need to for more updates
-        MagnetoState *mags     = MagnetoState::GetInstance(getObjectManager());
+        MagState *mags = MagState::GetInstance(getObjectManager());
         AccelState *accelState = AccelState::GetInstance(getObjectManager());
         GyroState *gyroState   = GyroState::GetInstance(getObjectManager());
         disconnect(accelState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(doGetNoiseSample(UAVObject *)));

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

@@ -92,7 +92,7 @@ private:
 
     UAVObject::Metadata initialAccelStateMdata;
     UAVObject::Metadata initialGyroStateMdata;
-    UAVObject::Metadata initialMagnetoStateMdata;
+    UAVObject::Metadata initialMagStateMdata;
     UAVObject::Metadata initialBaroSensorMdata;
     float initialMagCorrectionRate;
 

ground/openpilotgcs/src/plugins/setupwizard/pages/autoupdatepage.cpp

@@ -77,7 +77,7 @@ void AutoUpdatePage::updateStatus(uploader::AutoUpdateStep status, QVariant valu
         getWizard()->setWindowIcon(qApp->windowIcon());
         enableButtons(true);
         getWizard()->show();
-        ui->statusLabel->setText("Something went wrong, you will have to manualy upgrade the board using the uploader plugin");
+        ui->statusLabel->setText("Something went wrong, you will have to manually upgrade the board using the uploader plugin");
         break;
     }
 }

ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro

@@ -42,8 +42,8 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
     $$UAVOBJECT_SYNTHETICS/gyrosensor.h \
     $$UAVOBJECT_SYNTHETICS/accelsensor.h \
     $$UAVOBJECT_SYNTHETICS/accelstate.h \
-    $$UAVOBJECT_SYNTHETICS/magnetosensor.h \
+    $$UAVOBJECT_SYNTHETICS/magsensor.h \
-    $$UAVOBJECT_SYNTHETICS/magnetostate.h \
+    $$UAVOBJECT_SYNTHETICS/magstate.h \
     $$UAVOBJECT_SYNTHETICS/camerastabsettings.h \
     $$UAVOBJECT_SYNTHETICS/flighttelemetrystats.h \
     $$UAVOBJECT_SYNTHETICS/systemstats.h \
@@ -126,8 +126,8 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
     $$UAVOBJECT_SYNTHETICS/accelstate.cpp \
     $$UAVOBJECT_SYNTHETICS/gyrostate.cpp \
     $$UAVOBJECT_SYNTHETICS/gyrosensor.cpp \
-    $$UAVOBJECT_SYNTHETICS/magnetosensor.cpp \
+    $$UAVOBJECT_SYNTHETICS/magsensor.cpp \
-    $$UAVOBJECT_SYNTHETICS/magnetostate.cpp \
+    $$UAVOBJECT_SYNTHETICS/magstate.cpp \
     $$UAVOBJECT_SYNTHETICS/camerastabsettings.cpp \
     $$UAVOBJECT_SYNTHETICS/flighttelemetrystats.cpp \
     $$UAVOBJECT_SYNTHETICS/systemstats.cpp \

ground/openpilotgcs/src/plugins/uploader/uploader.ui

@@ -7,15 +7,67 @@
     <x>0</x>
     <y>0</y>
     <width>822</width>
-    <height>350</height>
+    <height>523</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
   <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <widget class="QScrollArea" name="scrollArea">
+     <property name="frameShape">
+      <enum>QFrame::NoFrame</enum>
+     </property>
+     <property name="widgetResizable">
+      <bool>true</bool>
+     </property>
+     <widget class="QWidget" name="scrollAreaWidgetContents">
+      <property name="geometry">
+       <rect>
+        <x>0</x>
+        <y>0</y>
+        <width>804</width>
+        <height>505</height>
+       </rect>
+      </property>
+      <layout class="QVBoxLayout" name="verticalLayout_2">
+       <item>
+        <widget class="QFrame" name="buttonFrame">
+         <property name="frameShape">
+          <enum>QFrame::NoFrame</enum>
+         </property>
+         <property name="frameShadow">
+          <enum>QFrame::Raised</enum>
+         </property>
+         <property name="lineWidth">
+          <number>0</number>
+         </property>
+         <layout class="QVBoxLayout" name="verticalLayout_3">
+          <property name="spacing">
+           <number>0</number>
+          </property>
+          <property name="margin">
+           <number>0</number>
+          </property>
           <item>
            <layout class="QHBoxLayout" name="horizontalLayout">
+            <item>
+             <widget class="QPushButton" name="autoUpdateButton">
+              <property name="enabled">
+               <bool>false</bool>
+              </property>
+              <property name="toolTip">
+               <string>Start a guided procedure to manually
+recover a system which does not boot.
+
+Rescue is possible in USB mode only.</string>
+              </property>
+              <property name="text">
+               <string>Auto Update</string>
+              </property>
+             </widget>
+            </item>
             <item>
              <widget class="QPushButton" name="haltButton">
               <property name="enabled">
@@ -32,6 +84,21 @@ through serial or USB)</string>
               </property>
              </widget>
             </item>
+            <item>
+             <widget class="QPushButton" name="resetButton">
+              <property name="enabled">
+               <bool>false</bool>
+              </property>
+              <property name="toolTip">
+               <string>Reset the system.
+(Only enabled if telemetry link is established, either
+through serial or USB)</string>
+              </property>
+              <property name="text">
+               <string>Reset</string>
+              </property>
+             </widget>
+            </item>
             <item>
              <widget class="QPushButton" name="bootButton">
               <property name="enabled">
@@ -68,34 +135,6 @@ menu on the right.</string>
               </property>
              </widget>
             </item>
-     <item>
-      <widget class="QPushButton" name="eraseBootButton">
-       <property name="enabled">
-        <bool>true</bool>
-       </property>
-       <property name="toolTip">
-        <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Reboot the board and clear its settings memory.&lt;/p&gt;&lt;p&gt;        Useful if the board cannot boot properly.&lt;/p&gt;&lt;p&gt;        Blue led starts blinking quick for 20-30 seconds than the board will start normally&lt;/p&gt;&lt;p&gt;&lt;br/&gt;&lt;/p&gt;&lt;p&gt;If telemetry is not running, select the link using the dropdown&lt;/p&gt;&lt;p&gt;menu on the right.&lt;/p&gt;&lt;p&gt;PLEASE NOTE: Supported with bootloader versions 4.0 and earlier&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-       </property>
-       <property name="text">
-        <string>Erase settings</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QPushButton" name="resetButton">
-       <property name="enabled">
-        <bool>false</bool>
-       </property>
-       <property name="toolTip">
-        <string>Reset the system.
-(Only enabled if telemetry link is established, either
-through serial or USB)</string>
-       </property>
-       <property name="text">
-        <string>Reset</string>
-       </property>
-      </widget>
-     </item>
             <item>
              <widget class="QPushButton" name="rescueButton">
               <property name="toolTip">
@@ -109,6 +148,19 @@ Rescue is possible in USB mode only.</string>
               </property>
              </widget>
             </item>
+            <item>
+             <widget class="QPushButton" name="eraseBootButton">
+              <property name="enabled">
+               <bool>true</bool>
+              </property>
+              <property name="toolTip">
+               <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Reboot the board and clear its settings memory.&lt;/p&gt;&lt;p&gt;        Useful if the board cannot boot properly.&lt;/p&gt;&lt;p&gt;        Blue led starts blinking quick for 20-30 seconds than the board will start normally&lt;/p&gt;&lt;p&gt;&lt;br/&gt;&lt;/p&gt;&lt;p&gt;If telemetry is not running, select the link using the dropdown&lt;/p&gt;&lt;p&gt;menu on the right.&lt;/p&gt;&lt;p&gt;PLEASE NOTE: Supported with bootloader versions 4.0 and earlier&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+              </property>
+              <property name="text">
+               <string>Erase settings</string>
+              </property>
+             </widget>
+            </item>
             <item>
              <spacer name="horizontalSpacer">
               <property name="orientation">
@@ -124,6 +176,12 @@ Rescue is possible in USB mode only.</string>
             </item>
             <item>
              <widget class="QComboBox" name="telemetryLink">
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
               <property name="toolTip">
                <string>When telemetry is not connected, select the communication
 method using this combo box.
@@ -179,6 +237,42 @@ halting a running board.</string>
             </item>
            </layout>
           </item>
+         </layout>
+        </widget>
+       </item>
+       <item>
+        <widget class="QGroupBox" name="autoUpdateGroupBox">
+         <property name="title">
+          <string>Auto update</string>
+         </property>
+         <layout class="QGridLayout" name="gridLayout_2">
+          <item row="1" column="1">
+           <widget class="QPushButton" name="autoUpdateOkButton">
+            <property name="text">
+             <string>OK</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="0">
+           <widget class="QProgressBar" name="autoUpdateProgressBar">
+            <property name="value">
+             <number>0</number>
+            </property>
+            <property name="textVisible">
+             <bool>false</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="0" colspan="2">
+           <widget class="QLabel" name="autoUpdateLabel">
+            <property name="text">
+             <string>Progress</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
        <item>
         <widget class="QSplitter" name="splitter">
          <property name="orientation">
@@ -200,7 +294,10 @@ halting a running board.</string>
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;To upgrade the firmware in your boards, proceed as follows:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;To upgrade the firmware in your boards,&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;press Auto Update and follow instructions&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;or&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;proceed as follows:&lt;/span&gt;&lt;/p&gt;
 &lt;p style=&quot;-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;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;- Connect telemetry&lt;/span&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;- Once telemetry is running, press &amp;quot;Halt&amp;quot; above&lt;/span&gt;&lt;/p&gt;
@@ -229,6 +326,10 @@ p, li { white-space: pre-wrap; }
        </item>
       </layout>
      </widget>
+    </widget>
+   </item>
+  </layout>
+ </widget>
  <resources>
   <include location="../coreplugin/core.qrc"/>
  </resources>

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

@@ -60,6 +60,11 @@ UploaderGadgetWidget::UploaderGadgetWidget(QWidget *parent) : QWidget(parent)
     connect(cm, SIGNAL(deviceConnected(QIODevice *)), this, SLOT(onPhisicalHWConnect()));
     getSerialPorts();
 
+    m_config->autoUpdateButton->setEnabled(autoUpdateCapable());
+    connect(m_config->autoUpdateButton, SIGNAL(clicked()), this, SLOT(startAutoUpdate()));
+    connect(m_config->autoUpdateOkButton, SIGNAL(clicked()), this, SLOT(closeAutoUpdate()));
+    m_config->autoUpdateGroupBox->setVisible(false);
+
     QIcon rbi;
     rbi.addFile(QString(":uploader/images/view-refresh.svg"));
     m_config->refreshPorts->setIcon(rbi);
@@ -816,6 +821,67 @@ void UploaderGadgetWidget::downloadEnded(bool succeed)
     m_config->rescueButton->setEnabled(true);
 }
 
+void UploaderGadgetWidget::startAutoUpdate()
+{
+    m_config->buttonFrame->setEnabled(false);
+    m_config->splitter->setEnabled(false);
+    m_config->autoUpdateGroupBox->setVisible(true);
+    m_config->autoUpdateOkButton->setEnabled(false);
+    connect(this, SIGNAL(autoUpdateSignal(uploader::AutoUpdateStep, QVariant)), this, SLOT(autoUpdateStatus(uploader::AutoUpdateStep, QVariant)));
+    autoUpdate();
+}
+
+void UploaderGadgetWidget::finishAutoUpdate()
+{
+    disconnect(this, SIGNAL(autoUpdateSignal(uploader::AutoUpdateStep, QVariant)), this, SLOT(autoUpdateStatus(uploader::AutoUpdateStep, QVariant)));
+    m_config->autoUpdateOkButton->setEnabled(true);
+}
+
+void UploaderGadgetWidget::closeAutoUpdate()
+{
+    m_config->autoUpdateGroupBox->setVisible(false);
+    m_config->buttonFrame->setEnabled(true);
+    m_config->splitter->setEnabled(true);
+}
+
+void UploaderGadgetWidget::autoUpdateStatus(uploader::AutoUpdateStep status, QVariant value)
+{
+    switch (status) {
+    case uploader::WAITING_DISCONNECT:
+        m_config->autoUpdateLabel->setText("Waiting for all OpenPilot boards to be disconnected from USB.");
+        break;
+    case uploader::WAITING_CONNECT:
+        m_config->autoUpdateLabel->setText("Please connect the OpenPilot board to the USB port.");
+        m_config->autoUpdateProgressBar->setValue(value.toInt());
+        break;
+    case uploader::JUMP_TO_BL:
+        m_config->autoUpdateProgressBar->setValue(0);
+        m_config->autoUpdateLabel->setText("Bringing the board into boot loader mode.");
+        break;
+    case uploader::LOADING_FW:
+        m_config->autoUpdateLabel->setText("Preparing to upload firmware to the board.");
+        break;
+    case uploader::UPLOADING_FW:
+        m_config->autoUpdateLabel->setText("Uploading firmware to the board.");
+        m_config->autoUpdateProgressBar->setValue(value.toInt());
+        break;
+    case uploader::UPLOADING_DESC:
+        m_config->autoUpdateLabel->setText("Uploading description of the new firmware to the board.");
+        break;
+    case uploader::BOOTING:
+        m_config->autoUpdateLabel->setText("Rebooting the board.");
+        break;
+    case uploader::SUCCESS:
+        m_config->autoUpdateLabel->setText("<font color='green'>Board was updated successfully, press OK to finish.</font>");
+        finishAutoUpdate();
+        break;
+    case uploader::FAILURE:
+        m_config->autoUpdateLabel->setText("<font color='red'>Something went wrong, you will have to manually upgrade the board. Press OK to continue.</font>");
+        finishAutoUpdate();
+        break;
+    }
+}
+
 /**
    Update log entry
  */

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

@@ -118,6 +118,10 @@ private slots:
     void uploadEnded(bool succeed);
     void downloadStarted();
     void downloadEnded(bool succeed);
+    void startAutoUpdate();
+    void finishAutoUpdate();
+    void closeAutoUpdate();
+    void autoUpdateStatus(uploader::AutoUpdateStep status, QVariant value);
 };
 
 #endif // UPLOADERGADGETWIDGET_H

make/.gitattributes

@@ -6,8 +6,6 @@
 *.py		text eol=lf
 *.sh		text eol=lf
 
-/doxygen/*.cfg				text eol=lf
+/doxygen/*				text eol=lf
-/templates/firmware_info.c.template 	text eol=lf
-/templates/gcs_version_info.h.template	text eol=crlf
 /templates/*.txt			text eol=crlf
 /uncrustify/*.cfg			text eol=lf

make/firmware-defs.mk

@@ -133,10 +133,10 @@ endef
 define OPFW_TEMPLATE
 FORCE:
 
-$(1).firmware_info.c: $(1) $(ROOT_DIR)/make/templates/firmware_info.c.template FORCE
+$(1).firmware_info.c: $(1) $(ROOT_DIR)/flight/templates/firmware_info.c.template FORCE
 	@$(ECHO) $(MSG_FWINFO) $$(call toprel, $$@)
 	$(V1) $(VERSION_INFO) \
-		--template=$(ROOT_DIR)/make/templates/firmware_info.c.template \
+		--template=$(ROOT_DIR)/flight/templates/firmware_info.c.template \
 		--outfile=$$@ \
 		--image=$(1) \
 		--type=$(2) \

shared/uavobjectdefinition/magsensor.xml

@@ -1,5 +1,5 @@
 <xml>
-    <object name="MagnetoSensor" singleinstance="true" settings="false">
+    <object name="MagSensor" singleinstance="true" settings="false">
         <description>The mag data.</description>
 	<field name="x" units="mGa" type="float" elements="1"/>
 	<field name="y" units="mGa" type="float" elements="1"/>

shared/uavobjectdefinition/magstate.xml

@@ -1,5 +1,5 @@
 <xml>
-    <object name="MagnetoState" singleinstance="true" settings="false">
+    <object name="MagState" singleinstance="true" settings="false">
         <description>The mag data.</description>
 	<field name="x" units="mGa" type="float" elements="1"/>
 	<field name="y" units="mGa" type="float" elements="1"/>