- renamed PiOS.x86 into PiOS.posix

- created temporary branch of OpenPilot (OpenPilot.posix) in order to test multi platform changes on hardware before committing to the main branch



git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@995 ebee16cc-31ac-478f-84a7-5cbb03baadba

flight/OpenPilot.posix/Makefile

@@ -0,0 +1,740 @@
+ #####
+ # Project: OpenPilot
+ #    
+ #  
+ # Makefile for OpenPilot project build PiOS and the AP.
+ #
+ # The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
+ #    
+ # 
+ # This program is free software; you can redistribute it and/or modify 
+ # it under the terms of the GNU General Public License as published by 
+ # the Free Software Foundation; either version 3 of the License, or 
+ # (at your option) any later version.
+ # 
+ # This program is distributed in the hope that it will be useful, but 
+ # WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ # or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ # for more details.
+ # 
+ # You should have received a copy of the GNU General Public License along 
+ # with this program; if not, write to the Free Software Foundation, Inc., 
+ # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ #####
+
+
+# Set developer code and compile options
+# Set to YES to compile for debugging
+DEBUG ?= YES
+
+# Set to YES to use the Servo output pins for debugging via scope or logic analyser
+ENABLE_DEBUG_PINS ?= NO
+
+# Set to Yes to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs  
+ENABLE_AUX_UART ?= NO
+
+#
+USE_BOOTLOADER ?= NO
+
+
+# Set to YES when using Code Sourcery toolchain
+CODE_SOURCERY ?= YES
+
+# Toolchain prefix (i.e arm-elf- -> arm-elf-gcc.exe)
+TCHAIN_PREFIX ?= arm-none-eabi-
+
+# Remove command is different for Code Sourcery on Windows
+ifeq ($(CODE_SOURCERY), YES)
+REMOVE_CMD = cs-rm
+else
+REMOVE_CMD = rm
+endif
+
+FLASH_TOOL = OPENOCD
+
+# YES enables -mthumb option to flags for source-files listed 
+# in SRC and CPPSRC
+USE_THUMB_MODE = YES
+
+# List of modules to include
+MODULES =  Telemetry GPS ManualControl Actuator Altitude Attitude Stabilization
+#MODULES = Telemetry Example
+#MODULES = Telemetry MK/MKSerial
+
+#MODULES += Osd/OsdEtStd
+
+
+# MCU name, submodel and board
+# - MCU used for compiler-option (-mcpu)
+# - MODEL used for linker-script name (-T) and passed as define
+# - BOARD just passed as define (optional)
+MCU      = cortex-m3
+CHIP     = STM32F103RET
+BOARD    = STM3210E_OP
+ifeq ($(USE_BOOTLOADER), YES)
+MODEL    = HD_BL
+
+else
+MODEL    = HD_NB
+endif
+
+# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
+OUTDIR = Build
+
+# Target file name (without extension).
+TARGET = OpenPilot
+
+# Paths
+OPSYSTEM = ./System
+OPSYSTEMINC = $(OPSYSTEM)/inc
+OPUAVTALK = ./UAVTalk
+OPUAVTALKINC = $(OPUAVTALK)/inc
+OPUAVOBJ = ./UAVObjects
+OPUAVOBJINC = $(OPUAVOBJ)/inc
+OPTESTS  = ./Tests
+OPMODULEDIR = ./Modules
+PIOS = ../PiOS
+PIOSINC = $(PIOS)/inc
+PIOSSTM32F10X = $(PIOS)/STM32F10x
+PIOSCOMMON = $(PIOS)/Common
+APPLIBDIR = $(PIOSSTM32F10X)/Libraries
+STMLIBDIR = $(APPLIBDIR)
+STMSPDDIR = $(STMLIBDIR)/STM32F10x_StdPeriph_Driver
+STMUSBDIR = $(STMLIBDIR)/STM32_USB-FS-Device_Driver
+STMSPDSRCDIR = $(STMSPDDIR)/src
+STMSPDINCDIR = $(STMSPDDIR)/inc
+STMUSBSRCDIR = $(STMUSBDIR)/src
+STMUSBINCDIR = $(STMUSBDIR)/inc
+CMSISDIR  = $(STMLIBDIR)/CMSIS/Core/CM3
+DOSFSDIR  = $(APPLIBDIR)/dosfs
+MSDDIR  = $(APPLIBDIR)/msd
+RTOSDIR = $(APPLIBDIR)/FreeRTOS
+RTOSSRCDIR = $(RTOSDIR)/Source
+RTOSINCDIR = $(RTOSSRCDIR)/include
+DOXYGENDIR = ../Doc/Doxygen
+
+# List C source files here. (C dependencies are automatically generated.)
+# use file-extension c for "c-only"-files
+
+MODNAMES = $(notdir ${MODULES})   
+
+ifndef TESTAPP
+## MODULES
+SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
+SRC += ${OUTDIR}/InitMods.c
+## OPENPILOT CORE:
+SRC += ${OPMODULEDIR}/System/systemmod.c
+SRC += $(OPSYSTEM)/openpilot.c
+SRC += $(OPSYSTEM)/pios_board.c
+SRC += $(OPSYSTEM)/alarms.c
+SRC += $(OPUAVTALK)/uavtalk.c
+SRC += $(OPUAVOBJ)/uavobjectmanager.c
+SRC += $(OPUAVOBJ)/uavobjectsinit.c
+SRC += $(OPUAVOBJ)/eventdispatcher.c
+else
+## TESTCODE
+SRC += $(OPTESTS)/test_common.c
+SRC += $(OPTESTS)/$(TESTAPP).c
+endif
+
+
+
+## UAVOBJECTS
+ifndef TESTAPP
+SRC += $(OPUAVOBJ)/exampleobject1.c
+SRC += $(OPUAVOBJ)/exampleobject2.c
+SRC += $(OPUAVOBJ)/examplesettings.c
+SRC += $(OPUAVOBJ)/objectpersistence.c
+SRC += $(OPUAVOBJ)/positionactual.c
+SRC += $(OPUAVOBJ)/gcstelemetrystats.c
+SRC += $(OPUAVOBJ)/flighttelemetrystats.c
+SRC += $(OPUAVOBJ)/systemstats.c
+SRC += $(OPUAVOBJ)/systemalarms.c
+SRC += $(OPUAVOBJ)/systemsettings.c
+SRC += $(OPUAVOBJ)/telemetrysettings.c
+SRC += $(OPUAVOBJ)/actuatorcommand.c
+SRC += $(OPUAVOBJ)/actuatordesired.c
+SRC += $(OPUAVOBJ)/actuatorsettings.c
+SRC += $(OPUAVOBJ)/manualcontrolcommand.c
+SRC += $(OPUAVOBJ)/manualcontrolsettings.c
+SRC += $(OPUAVOBJ)/attitudedesired.c
+SRC += $(OPUAVOBJ)/stabilizationsettings.c
+SRC += $(OPUAVOBJ)/altitudeactual.c
+SRC += $(OPUAVOBJ)/attitudeactual.c
+SRC += $(OPUAVOBJ)/attitudesettings.c
+SRC += $(OPUAVOBJ)/flightbatterystate.c
+endif
+
+## PIOS Hardware (STM32F10x)
+SRC += $(PIOSSTM32F10X)/pios_sys.c
+SRC += $(PIOSSTM32F10X)/pios_led.c
+SRC += $(PIOSSTM32F10X)/pios_delay.c
+SRC += $(PIOSSTM32F10X)/pios_usart.c
+SRC += $(PIOSSTM32F10X)/pios_irq.c
+SRC += $(PIOSSTM32F10X)/pios_adc.c
+SRC += $(PIOSSTM32F10X)/pios_servo.c
+SRC += $(PIOSSTM32F10X)/pios_i2c.c
+SRC += $(PIOSSTM32F10X)/pios_spi.c
+SRC += $(PIOSSTM32F10X)/pios_ppm.c
+SRC += $(PIOSSTM32F10X)/pios_pwm.c
+SRC += $(PIOSSTM32F10X)/pios_spektrum.c
+SRC += $(PIOSSTM32F10X)/pios_usb.c
+SRC += $(PIOSSTM32F10X)/pios_usb_hid.c
+SRC += $(PIOSSTM32F10X)/pios_debug.c
+SRC += $(PIOSSTM32F10X)/pios_gpio.c
+SRC += $(PIOSSTM32F10X)/pios_exti.c
+
+## PIOS Hardware (Common)
+SRC += $(PIOSCOMMON)/pios_sdcard.c
+SRC += $(PIOSCOMMON)/pios_com.c
+SRC += $(PIOSCOMMON)/pios_bmp085.c
+SRC += $(PIOSCOMMON)/pios_opahrs.c
+SRC += $(PIOSCOMMON)/printf-stdarg.c
+
+## CMSIS for STM32
+SRC += $(CMSISDIR)/core_cm3.c
+SRC += $(CMSISDIR)/system_stm32f10x.c
+
+## Used parts of the STM-Library
+SRC += $(STMSPDSRCDIR)/stm32f10x_adc.c
+SRC += $(STMSPDSRCDIR)/stm32f10x_bkp.c
+SRC += $(STMSPDSRCDIR)/stm32f10x_crc.c
+SRC += $(STMSPDSRCDIR)/stm32f10x_dac.c
+SRC += $(STMSPDSRCDIR)/stm32f10x_dma.c
+SRC += $(STMSPDSRCDIR)/stm32f10x_exti.c
+SRC += $(STMSPDSRCDIR)/stm32f10x_flash.c
+SRC += $(STMSPDSRCDIR)/stm32f10x_gpio.c
+SRC += $(STMSPDSRCDIR)/stm32f10x_i2c.c
+SRC += $(STMSPDSRCDIR)/stm32f10x_pwr.c
+SRC += $(STMSPDSRCDIR)/stm32f10x_rcc.c
+SRC += $(STMSPDSRCDIR)/stm32f10x_rtc.c
+SRC += $(STMSPDSRCDIR)/stm32f10x_spi.c
+SRC += $(STMSPDSRCDIR)/stm32f10x_tim.c
+SRC += $(STMSPDSRCDIR)/stm32f10x_usart.c
+SRC += $(STMSPDSRCDIR)/misc.c
+
+## STM32 USB Library
+SRC += $(STMUSBSRCDIR)/usb_core.c
+SRC += $(STMUSBSRCDIR)/usb_init.c
+SRC += $(STMUSBSRCDIR)/usb_int.c
+SRC += $(STMUSBSRCDIR)/usb_mem.c
+SRC += $(STMUSBSRCDIR)/usb_regs.c
+
+## RTOS
+SRC += $(RTOSSRCDIR)/list.c 
+SRC += $(RTOSSRCDIR)/queue.c  
+SRC += $(RTOSSRCDIR)/tasks.c
+
+## RTOS Portable 
+SRC += $(RTOSSRCDIR)/portable/GCC/ARM_CM3/port.c
+SRC += $(RTOSSRCDIR)/portable/MemMang/heap_2.c
+
+## Dosfs file system
+SRC += $(DOSFSDIR)/dosfs.c
+SRC += $(DOSFSDIR)/dfs_sdcard.c
+
+## Mass Storage Device
+SRC += $(MSDDIR)/msd.c
+SRC += $(MSDDIR)/msd_bot.c
+SRC += $(MSDDIR)/msd_desc.c
+SRC += $(MSDDIR)/msd_memory.c
+SRC += $(MSDDIR)/msd_scsi.c
+SRC += $(MSDDIR)/msd_scsi_data.c
+
+# List C source files here which must be compiled in ARM-Mode (no -mthumb).
+# use file-extension c for "c-only"-files
+## just for testing, timer.c could be compiled in thumb-mode too
+SRCARM = 
+
+# List C++ source files here.
+# use file-extension .cpp for C++-files (not .C)
+CPPSRC = 
+
+# List C++ source files here which must be compiled in ARM-Mode.
+# use file-extension .cpp for C++-files (not .C)
+#CPPSRCARM = $(TARGET).cpp
+CPPSRCARM = 
+
+# List Assembler source files here.
+# Make them always end in a capital .S. Files ending in a lowercase .s
+# will not be considered source files but generated files (assembler
+# output from the compiler), and will be deleted upon "make clean"!
+# Even though the DOS/Win* filesystem matches both .s and .S the same,
+# it will preserve the spelling of the filenames, and gcc itself does
+# care about how the name is spelled on its command-line.
+ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL).S
+
+# List Assembler source files here which must be assembled in ARM-Mode..
+ASRCARM = 
+
+# List any extra directories to look for include files here.
+#    Each directory must be seperated by a space.
+EXTRAINCDIRS  =  $(OPSYSTEM)
+EXTRAINCDIRS  += $(OPSYSTEMINC)
+EXTRAINCDIRS  += $(OPUAVTALK)
+EXTRAINCDIRS  += $(OPUAVTALKINC)
+EXTRAINCDIRS  += $(OPUAVOBJ)
+EXTRAINCDIRS  += $(OPUAVOBJINC)
+EXTRAINCDIRS  += $(MODEXAMPLE)
+EXTRAINCDIRS  += $(MODEXAMPLEINC)
+EXTRAINCDIRS  += $(MODSYSTEMINC)
+EXTRAINCDIRS  += $(MODTELEMETRY)
+EXTRAINCDIRS  += $(MODTELEMETRYINC)
+EXTRAINCDIRS  += $(MODGPS)
+EXTRAINCDIRS  += $(MODGPSINC)
+EXTRAINCDIRS  += $(MODMANUALCONTROL)
+EXTRAINCDIRS  += $(MODMANUALCONTROLINC)
+EXTRAINCDIRS  += $(MODACTUATOR)
+EXTRAINCDIRS  += $(MODACTUATORINC)
+EXTRAINCDIRS  += $(MODALTITUDE)
+EXTRAINCDIRS  += $(MODALTITUDEINC)
+EXTRAINCDIRS  += $(MODATTITUDE)
+EXTRAINCDIRS  += $(MODATTITUDEINC)
+EXTRAINCDIRS  += $(PIOS)
+EXTRAINCDIRS  += $(PIOSINC)
+EXTRAINCDIRS  += $(PIOSSTM32F10X)
+EXTRAINCDIRS  += $(PIOSCOMMON)
+EXTRAINCDIRS  += $(STMSPDINCDIR)
+EXTRAINCDIRS  += $(STMUSBINCDIR)
+EXTRAINCDIRS  += $(CMSISDIR)
+EXTRAINCDIRS  += $(DOSFSDIR)
+EXTRAINCDIRS  += $(MSDDIR)
+EXTRAINCDIRS  += $(RTOSINCDIR)
+EXTRAINCDIRS  += $(APPLIBDIR)
+EXTRAINCDIRS  += $(RTOSSRCDIR)/portable/GCC/ARM_CM3
+
+EXTRAINCDIRS += ${foreach MOD, ${MODULES}, Modules/${MOD}/inc} ${OPMODULEDIR}/System/inc
+
+
+# List any extra directories to look for library files here.
+# Also add directories where the linker should search for
+# includes from linker-script to the list
+#     Each directory must be seperated by a space.
+EXTRA_LIBDIRS = 
+
+# Extra Libraries
+#    Each library-name must be seperated by a space.
+#    i.e. to link with libxyz.a, libabc.a and libefsl.a: 
+#    EXTRA_LIBS = xyz abc efsl
+# for newlib-lpc (file: libnewlibc-lpc.a):
+#    EXTRA_LIBS = newlib-lpc
+EXTRA_LIBS =
+
+# Path to Linker-Scripts
+LINKERSCRIPTPATH = $(PIOSSTM32F10X)
+
+# Optimization level, can be [0, 1, 2, 3, s]. 
+# 0 = turn off optimization. s = optimize for size.
+# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
+
+ifeq ($(DEBUG),YES)
+OPT = 0
+else
+OPT = s
+endif
+
+# Output format. (can be ihex or binary or both)
+#  binary to create a load-image in raw-binary format i.e. for SAM-BA, 
+#  ihex to create a load-image in Intel hex format
+#LOADFORMAT = ihex
+#LOADFORMAT = binary
+LOADFORMAT = both
+
+# Debugging format.
+DEBUGF = dwarf-2
+
+# Place project-specific -D (define) and/or 
+# -U options for C here.
+CDEFS = -DSTM32F10X_$(MODEL)
+CDEFS += -DUSE_STDPERIPH_DRIVER
+CDEFS += -DUSE_$(BOARD)
+ifeq ($(ENABLE_DEBUG_PINS), YES)
+CDEFS += -DPIOS_ENABLE_DEBUG_PINS
+endif
+ifeq ($(ENABLE_AUX_UART), YES)
+CDEFS += -DPIOS_ENABLE_AUX_UART
+endif
+ifeq ($(USE_BOOTLOADER), YES)
+CDEFS += -DUSE_BOOTLOADER
+endif
+
+
+# Place project-specific -D and/or -U options for 
+# Assembler with preprocessor here.
+#ADEFS = -DUSE_IRQ_ASM_WRAPPER
+ADEFS = -D__ASSEMBLY__
+
+# Compiler flag to set the C Standard level.
+# c89   - "ANSI" C
+# gnu89 - c89 plus GCC extensions
+# c99   - ISO C99 standard (not yet fully implemented)
+# gnu99 - c99 plus GCC extensions
+CSTANDARD = -std=gnu99
+
+#-----
+
+# Compiler flags.
+
+#  -g*:          generate debugging information
+#  -O*:          optimization level
+#  -f...:        tuning, see GCC manual and avr-libc documentation
+#  -Wall...:     warning level
+#  -Wa,...:      tell GCC to pass this to the assembler.
+#    -adhlns...: create assembler listing
+#
+# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
+
+ifeq ($(DEBUG),YES)
+CFLAGS = -g$(DEBUGF) -DDEBUG
+endif
+
+CFLAGS += -O$(OPT)
+CFLAGS += -mcpu=$(MCU) -mthumb
+CFLAGS += $(CDEFS)
+CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
+
+CFLAGS += -mapcs-frame 
+CFLAGS += -fomit-frame-pointer
+ifeq ($(CODE_SOURCERY), YES)
+CFLAGS += -fpromote-loop-indices
+endif
+
+CFLAGS += -Wall 
+CFLAGS += -Werror
+CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
+# Compiler flags to generate dependency files:
+CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d
+
+# flags only for C
+#CONLYFLAGS += -Wnested-externs 
+CONLYFLAGS += $(CSTANDARD)
+
+# Assembler flags.
+#  -Wa,...:    tell GCC to pass this to the assembler.
+#  -ahlns:     create listing
+ASFLAGS  = -mcpu=$(MCU) -mthumb -I. -x assembler-with-cpp
+ASFLAGS += $(ADEFS)
+ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
+ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
+
+MATH_LIB = -lm
+
+# Linker flags.
+#  -Wl,...:     tell GCC to pass this to linker.
+#    -Map:      create map file
+#    --cref:    add cross reference to  map file
+LDFLAGS = -nostartfiles -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections
+LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
+LDFLAGS += -lc
+LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))
+LDFLAGS += $(MATH_LIB)
+LDFLAGS += -lc -lgcc 
+
+# Set linker-script name depending on selected submodel name
+LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_stm32f10x_$(MODEL).ld
+
+# ---------------------------------------------------------------------------
+# Options for OpenOCD flash-programming
+# see openocd.pdf/openocd.texi for further information
+#
+OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
+# if OpenOCD is in the $PATH just set OOCD_EXE=openocd
+OOCD_EXE=openocd
+# debug level
+OOCD_CL=-d0
+# interface and board/target settings (using the OOCD target-library here)
+OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.openpilot.cfg -f ../Project/OpenOCD/stm32.cfg
+# initialize
+OOCD_CL+=-c init
+# show the targets
+OOCD_CL+=-c targets
+# commands to prepare flash-write
+OOCD_CL+= -c "reset halt"
+# flash erase 
+OOCD_CL+=-c "stm32x mass_erase 0"
+# flash-write
+OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)" 
+# Verify
+OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
+# reset target
+OOCD_CL+=-c "reset run"
+# terminate OOCD after programming
+OOCD_CL+=-c shutdown
+# ---------------------------------------------------------------------------
+
+
+# Define programs and commands.
+CC      = $(TCHAIN_PREFIX)gcc
+CPP     = $(TCHAIN_PREFIX)g++
+AR      = $(TCHAIN_PREFIX)ar
+OBJCOPY = $(TCHAIN_PREFIX)objcopy
+OBJDUMP = $(TCHAIN_PREFIX)objdump
+SIZE    = $(TCHAIN_PREFIX)size
+NM      = $(TCHAIN_PREFIX)nm
+REMOVE  = $(REMOVE_CMD) -f
+###SHELL   = sh
+###COPY    = cp
+
+
+
+# Define Messages
+# English
+MSG_ERRORS_NONE = Errors: none
+MSG_BEGIN = ${quote}-------- begin (mode: $(RUN_MODE)) --------${quote}
+MSG_END = ${quote}--------  end  --------${quote}
+MSG_MODINIT = ${quote}**** Generating ModInit.c${quote}
+MSG_SIZE_BEFORE = ${quote}Size before:${quote} 
+MSG_SIZE_AFTER = ${quote}Size after build:${quote}
+MSG_LOAD_FILE = ${quote}Creating load file:${quote}
+MSG_EXTENDED_LISTING = ${quote}Creating Extended Listing/Disassembly:${quote}
+MSG_SYMBOL_TABLE = ${quote}Creating Symbol Table:${quote}
+MSG_LINKING = ${quote}**** Linking :${quote}
+MSG_COMPILING = ${quote}**** Compiling C :${quote}
+MSG_COMPILING_ARM = ${quote}**** Compiling C (ARM-only):${quote}
+MSG_COMPILINGCPP = ${quote}Compiling C++ :${quote}
+MSG_COMPILINGCPP_ARM = ${quote}Compiling C++ (ARM-only):${quote}
+MSG_ASSEMBLING = ${quote}**** Assembling:${quote}
+MSG_ASSEMBLING_ARM = ${quote}****Assembling (ARM-only):${quote}
+MSG_CLEANING = ${quote}Cleaning project:${quote}
+MSG_FORMATERROR = ${quote}Can not handle output-format${quote}
+MSG_ASMFROMC = ${quote}Creating asm-File from C-Source:${quote}
+MSG_ASMFROMC_ARM = ${quote}Creating asm-File from C-Source (ARM-only):${quote}
+
+# List of all source files.
+ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
+# List of all source files without directory and file-extension.
+ALLSRCBASE = $(notdir $(basename $(ALLSRC)))
+
+# Define all object files.
+ALLOBJ     = $(addprefix $(OUTDIR)/, $(addsuffix .o, $(ALLSRCBASE)))
+
+# Define all listing files (used for make clean).
+LSTFILES   = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
+# Define all depedency-files (used for make clean).
+DEPFILES   = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
+
+elf: $(OUTDIR)/$(TARGET).elf 
+lss: $(OUTDIR)/$(TARGET).lss
+sym: $(OUTDIR)/$(TARGET).sym
+hex: $(OUTDIR)/$(TARGET).hex
+bin: $(OUTDIR)/$(TARGET).bin
+
+# Default target.
+#all: begin gccversion sizebefore build sizeafter finished end
+all: begin gccversion build sizeafter finished end
+
+ifeq ($(LOADFORMAT),ihex)
+build: elf hex lss sym
+else 
+ifeq ($(LOADFORMAT),binary)
+build: elf bin lss sym
+else 
+ifeq ($(LOADFORMAT),both)
+build: elf hex bin lss sym
+else 
+$(error "$(MSG_FORMATERROR) $(FORMAT)")
+endif
+endif
+endif
+
+# Test if quotes are needed for the echo-command
+result = ${shell echo "test"}
+ifeq (${result}, test)
+	quote = '
+else
+	quote = 
+endif
+
+${OUTDIR}/InitMods.c: Makefile
+	@echo ${MSG_MODINIT}
+	@echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c 
+	@echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}${quote}  >> ${OUTDIR}/InitMods.c
+	@echo ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c
+	@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote}  >> ${OUTDIR}/InitMods.c
+	@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
+	
+# Eye candy.
+begin:
+##	@echo
+	@echo $(MSG_BEGIN)
+
+finished:
+##	@echo $(MSG_ERRORS_NONE)
+
+end:
+	@echo $(MSG_END)
+##	@echo
+
+# Display sizes of sections.
+ELFSIZE = $(SIZE) -A  $(OUTDIR)/$(TARGET).elf
+##ELFSIZE = $(SIZE) --format=Berkeley --common $(OUTDIR)/$(TARGET).elf
+sizebefore:
+#	@if [ -f  $(OUTDIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi
+
+sizeafter:
+#	@if [ -f  $(OUTDIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
+	@echo $(MSG_SIZE_AFTER)
+	$(ELFSIZE)
+	
+# Display compiler version information.
+gccversion : 
+	@$(CC) --version
+#	@echo $(ALLOBJ)
+
+# Program the device.
+ifeq ($(FLASH_TOOL),OPENOCD)
+# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
+program: $(OUTDIR)/$(TARGET).elf
+	@echo ${quote}Programming with OPENOCD${quote}
+	$(OOCD_EXE) $(OOCD_CL)
+endif
+
+# Create final output file (.hex) from ELF output file.
+%.hex: %.elf
+##	@echo
+	@echo $(MSG_LOAD_FILE) $@
+	$(OBJCOPY) -O ihex $< $@
+	
+# Create final output file (.bin) from ELF output file.
+%.bin: %.elf
+##	@echo
+	@echo $(MSG_LOAD_FILE) $@
+	$(OBJCOPY) -O binary $< $@
+
+# Create extended listing file/disassambly from ELF output file.
+# using objdump testing: option -C
+%.lss: %.elf
+##	@echo
+	@echo $(MSG_EXTENDED_LISTING) $@
+	$(OBJDUMP) -h -S -C -r $< > $@
+#	$(OBJDUMP) -x -S $< > $@
+
+# Create a symbol table from ELF output file.
+%.sym: %.elf
+##	@echo
+	@echo $(MSG_SYMBOL_TABLE) $@
+	$(NM) -n $< > $@
+
+# Link: create ELF output file from object files.
+.SECONDARY : $(TARGET).elf
+.PRECIOUS : $(ALLOBJ)
+%.elf:  $(ALLOBJ)
+	@echo $(MSG_LINKING) $@
+# use $(CC) for C-only projects or $(CPP) for C++-projects:
+	$(CC) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS)
+#	$(CPP) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS)
+
+
+# Assemble: create object files from assembler source files.
+define ASSEMBLE_TEMPLATE
+$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
+##	@echo
+	@echo $(MSG_ASSEMBLING) $$<  to  $$@
+	$(CC) -c $(THUMB) $$(ASFLAGS) $$< -o $$@ 
+endef
+$(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src)))) 
+
+# Assemble: create object files from assembler source files. ARM-only
+define ASSEMBLE_ARM_TEMPLATE
+$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
+##	@echo
+	@echo $(MSG_ASSEMBLING_ARM) $$<  to  $$@
+	$(CC) -c $$(ASFLAGS) $$< -o $$@ 
+endef
+$(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src)))) 
+
+
+# Compile: create object files from C source files.
+define COMPILE_C_TEMPLATE
+$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
+##	@echo
+	@echo $(MSG_COMPILING) $$<  to  $$@
+	$(CC) -c $(THUMB) $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@ 
+endef
+$(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src)))) 
+
+# Compile: create object files from C source files. ARM-only
+define COMPILE_C_ARM_TEMPLATE
+$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
+##	@echo
+	@echo $(MSG_COMPILING_ARM) $$<  to  $$@
+	$(CC) -c $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@ 
+endef
+$(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src)))) 
+
+
+# Compile: create object files from C++ source files.
+define COMPILE_CPP_TEMPLATE
+$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
+##	@echo
+	@echo $(MSG_COMPILINGCPP) $$<  to  $$@
+	$(CC) -c $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@ 
+endef
+$(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src)))) 
+
+# Compile: create object files from C++ source files. ARM-only
+define COMPILE_CPP_ARM_TEMPLATE
+$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
+##	@echo
+	@echo $(MSG_COMPILINGCPP_ARM) $$<  to  $$@
+	$(CC) -c $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@ 
+endef
+$(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src)))) 
+
+
+# Compile: create assembler files from C source files. ARM/Thumb
+$(SRC:.c=.s) : %.s : %.c
+	@echo $(MSG_ASMFROMC) $< to $@
+	$(CC) $(THUMB) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@
+
+# Compile: create assembler files from C source files. ARM only
+$(SRCARM:.c=.s) : %.s : %.c
+	@echo $(MSG_ASMFROMC_ARM) $< to $@
+	$(CC) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@
+
+# Generate Doxygen documents
+docs:
+	doxygen  $(DOXYGENDIR)/doxygen.cfg
+	
+# Target: clean project.
+clean: begin clean_list finished end
+
+clean_list :
+##	@echo
+	@echo $(MSG_CLEANING)
+	$(REMOVE) $(OUTDIR)/$(TARGET).map
+	$(REMOVE) $(OUTDIR)/$(TARGET).elf
+	$(REMOVE) $(OUTDIR)/$(TARGET).hex
+	$(REMOVE) $(OUTDIR)/$(TARGET).bin
+	$(REMOVE) $(OUTDIR)/$(TARGET).sym
+	$(REMOVE) $(OUTDIR)/$(TARGET).lss
+	$(REMOVE) $(ALLOBJ)
+	$(REMOVE) $(LSTFILES)
+	$(REMOVE) $(DEPFILES)
+	$(REMOVE) $(SRC:.c=.s)
+	$(REMOVE) $(SRCARM:.c=.s)
+	$(REMOVE) $(CPPSRC:.cpp=.s)
+	$(REMOVE) $(CPPSRCARM:.cpp=.s)
+
+
+# Create output files directory
+# all known MS Windows OS define the ComSpec environment variable
+ifdef ComSpec
+$(shell md $(OUTDIR) 2>NUL)
+else
+$(shell mkdir $(OUTDIR) 2>/dev/null)
+endif
+
+# Include the dependency files.
+ifdef ComSpec
+-include $(shell md $(OUTDIR)\dep 2>NUL) $(wildcard $(OUTDIR)/dep/*)
+else
+-include $(shell mkdir $(OUTDIR) 2>/dev/null) $(shell mkdir $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
+endif
+
+
+
+# Listing of phony targets.
+.PHONY : all begin finish end sizebefore sizeafter gccversion \
+build elf hex bin lss sym clean clean_list program
+

flight/OpenPilot.posix/Makefile.posix

@@ -0,0 +1,616 @@
+ #####
+ # Project: OpenPilot
+ #    
+ #  
+ # Makefile for OpenPilot project build PiOS and the AP.
+ #
+ # The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
+ #    
+ # 
+ # This program is free software; you can redistribute it and/or modify 
+ # it under the terms of the GNU General Public License as published by 
+ # the Free Software Foundation; either version 3 of the License, or 
+ # (at your option) any later version.
+ # 
+ # This program is distributed in the hope that it will be useful, but 
+ # WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ # or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ # for more details.
+ # 
+ # You should have received a copy of the GNU General Public License along 
+ # with this program; if not, write to the Free Software Foundation, Inc., 
+ # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ #####
+
+
+# Set developer code and compile options
+# Set to YES to compile for debugging
+DEBUG ?= YES
+
+# Set to YES to use the Servo output pins for debugging via scope or logic analyser
+ENABLE_DEBUG_PINS ?= NO
+
+# Set to Yes to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs  
+ENABLE_AUX_UART ?= NO
+
+#
+USE_BOOTLOADER ?= NO
+
+
+# Set to YES when using Code Sourcery toolchain
+CODE_SOURCERY ?= NO
+
+# Toolchain prefix (i.e arm-elf- -> arm-elf-gcc.exe)
+TCHAIN_PREFIX ?= ""
+
+# Remove command is different for Code Sourcery on Windows
+REMOVE_CMD ?= rm
+
+FLASH_TOOL = OPENOCD
+
+# YES enables -mthumb option to flags for source-files listed 
+# in SRC and CPPSRC
+USE_THUMB_MODE = YES
+
+# List of modules to include
+MODULES =  Telemetry Stabilization
+#MODULES =  Telemetry GPS ManualControl Actuator Altitude Attitude Stabilization
+#MODULES = Telemetry Example
+#MODULES = Telemetry MK/MKSerial
+
+#MODULES += Osd/OsdEtStd
+
+
+# MCU name, submodel and board
+# - MCU used for compiler-option (-mcpu)
+# - MODEL used for linker-script name (-T) and passed as define
+# - BOARD just passed as define (optional)
+MCU      = i686
+#CHIP     = STM32F103RET
+#BOARD    = STM3210E_OP
+ifeq ($(USE_BOOTLOADER), YES)
+MODEL    = HD_BL
+
+else
+MODEL    = HD_NB
+endif
+
+# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
+OUTDIR = Build
+
+# Target file name (without extension).
+TARGET = OpenPilot
+
+# Paths
+OPSYSTEM = ./System
+OPSYSTEMINC = $(OPSYSTEM)/inc
+OPUAVTALK = ./UAVTalk
+OPUAVTALKINC = $(OPUAVTALK)/inc
+OPUAVOBJ = ./UAVObjects
+OPUAVOBJINC = $(OPUAVOBJ)/inc
+OPTESTS  = ./Tests
+OPMODULEDIR = ./Modules
+PIOS = ../PiOS.posix
+PIOSINC = $(PIOS)/inc
+PIOSPOSIX = $(PIOS)/posix
+APPLIBDIR = $(PIOSPOSIX)/Libraries
+RTOSDIR = $(APPLIBDIR)/FreeRTOS
+RTOSSRCDIR = $(RTOSDIR)/Source
+RTOSINCDIR = $(RTOSSRCDIR)/include
+DOXYGENDIR = ../Doc/Doxygen
+
+# List C source files here. (C dependencies are automatically generated.)
+# use file-extension c for "c-only"-files
+
+MODNAMES = $(notdir ${MODULES})   
+
+ifndef TESTAPP
+## MODULES
+SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
+SRC += ${OUTDIR}/InitMods.c
+## OPENPILOT CORE:
+SRC += ${OPMODULEDIR}/System/systemmod.c
+SRC += $(OPSYSTEM)/openpilot.c
+SRC += $(OPSYSTEM)/pios_board_posix.c
+SRC += $(OPSYSTEM)/alarms.c
+SRC += $(OPUAVTALK)/uavtalk.c
+SRC += $(OPUAVOBJ)/uavobjectmanager.c
+SRC += $(OPUAVOBJ)/uavobjectsinit.c
+SRC += $(OPUAVOBJ)/eventdispatcher.c
+else
+## TESTCODE
+SRC += $(OPTESTS)/test_common.c
+SRC += $(OPTESTS)/$(TESTAPP).c
+endif
+
+
+
+## UAVOBJECTS
+ifndef TESTAPP
+SRC += $(OPUAVOBJ)/exampleobject1.c
+SRC += $(OPUAVOBJ)/exampleobject2.c
+SRC += $(OPUAVOBJ)/examplesettings.c
+SRC += $(OPUAVOBJ)/objectpersistence.c
+SRC += $(OPUAVOBJ)/positionactual.c
+SRC += $(OPUAVOBJ)/gcstelemetrystats.c
+SRC += $(OPUAVOBJ)/flighttelemetrystats.c
+SRC += $(OPUAVOBJ)/systemstats.c
+SRC += $(OPUAVOBJ)/systemalarms.c
+SRC += $(OPUAVOBJ)/systemsettings.c
+SRC += $(OPUAVOBJ)/telemetrysettings.c
+SRC += $(OPUAVOBJ)/actuatorcommand.c
+SRC += $(OPUAVOBJ)/actuatordesired.c
+SRC += $(OPUAVOBJ)/actuatorsettings.c
+SRC += $(OPUAVOBJ)/manualcontrolcommand.c
+SRC += $(OPUAVOBJ)/manualcontrolsettings.c
+SRC += $(OPUAVOBJ)/attitudedesired.c
+SRC += $(OPUAVOBJ)/stabilizationsettings.c
+SRC += $(OPUAVOBJ)/altitudeactual.c
+SRC += $(OPUAVOBJ)/attitudeactual.c
+SRC += $(OPUAVOBJ)/attitudesettings.c
+SRC += $(OPUAVOBJ)/flightbatterystate.c
+endif
+
+## PIOS Hardware (posix)
+SRC += $(PIOSPOSIX)/pios_sys.c
+SRC += $(PIOSPOSIX)/pios_led.c
+SRC += $(PIOSPOSIX)/pios_delay.c
+SRC += $(PIOSPOSIX)/pios_sdcard.c
+SRC += $(PIOSPOSIX)/pios_udp.c
+SRC += $(PIOSPOSIX)/pios_com.c
+#
+## RTOS
+SRC += $(RTOSSRCDIR)/list.c 
+SRC += $(RTOSSRCDIR)/queue.c  
+SRC += $(RTOSSRCDIR)/tasks.c
+#
+## RTOS Portable 
+SRC += $(RTOSSRCDIR)/portable/GCC/Posix/port.c
+SRC += $(RTOSSRCDIR)/portable/MemMang/heap_3.c
+
+
+
+# List C source files here which must be compiled in ARM-Mode (no -mthumb).
+# use file-extension c for "c-only"-files
+## just for testing, timer.c could be compiled in thumb-mode too
+SRCARM = 
+
+# List C++ source files here.
+# use file-extension .cpp for C++-files (not .C)
+CPPSRC = 
+
+# List C++ source files here which must be compiled in ARM-Mode.
+# use file-extension .cpp for C++-files (not .C)
+#CPPSRCARM = $(TARGET).cpp
+CPPSRCARM = 
+
+
+# List any extra directories to look for include files here.
+#    Each directory must be seperated by a space.
+EXTRAINCDIRS  =  $(OPSYSTEM)
+EXTRAINCDIRS  += $(OPSYSTEMINC)
+EXTRAINCDIRS  += $(OPUAVTALK)
+EXTRAINCDIRS  += $(OPUAVTALKINC)
+EXTRAINCDIRS  += $(OPUAVOBJ)
+EXTRAINCDIRS  += $(OPUAVOBJINC)
+EXTRAINCDIRS  += $(MODEXAMPLE)
+EXTRAINCDIRS  += $(MODEXAMPLEINC)
+EXTRAINCDIRS  += $(MODSYSTEMINC)
+EXTRAINCDIRS  += $(MODTELEMETRY)
+EXTRAINCDIRS  += $(MODTELEMETRYINC)
+EXTRAINCDIRS  += $(MODGPS)
+EXTRAINCDIRS  += $(MODGPSINC)
+EXTRAINCDIRS  += $(MODMANUALCONTROL)
+EXTRAINCDIRS  += $(MODMANUALCONTROLINC)
+EXTRAINCDIRS  += $(MODACTUATOR)
+EXTRAINCDIRS  += $(MODACTUATORINC)
+EXTRAINCDIRS  += $(MODALTITUDE)
+EXTRAINCDIRS  += $(MODALTITUDEINC)
+EXTRAINCDIRS  += $(MODATTITUDE)
+EXTRAINCDIRS  += $(MODATTITUDEINC)
+EXTRAINCDIRS  += $(PIOS)
+EXTRAINCDIRS  += $(PIOSINC)
+EXTRAINCDIRS  += $(PIOSPOSIX)
+EXTRAINCDIRS  += $(MININIDIR)
+EXTRAINCDIRS  += $(RTOSINCDIR)
+EXTRAINCDIRS  += $(APPLIBDIR)
+EXTRAINCDIRS  += $(RTOSSRCDIR)/portable/GCC/Posix
+
+EXTRAINCDIRS += ${foreach MOD, ${MODULES}, Modules/${MOD}/inc} ${OPMODULEDIR}/System/inc
+
+
+# List any extra directories to look for library files here.
+# Also add directories where the linker should search for
+# includes from linker-script to the list
+#     Each directory must be seperated by a space.
+EXTRA_LIBDIRS = 
+
+# Extra Libraries
+#    Each library-name must be seperated by a space.
+#    i.e. to link with libxyz.a, libabc.a and libefsl.a: 
+#    EXTRA_LIBS = xyz abc efsl
+# for newlib-lpc (file: libnewlibc-lpc.a):
+#    EXTRA_LIBS = newlib-lpc
+EXTRA_LIBS =
+
+# Path to Linker-Scripts
+LINKERSCRIPTPATH = $(PIOSSTM32F10X)
+
+# Optimization level, can be [0, 1, 2, 3, s]. 
+# 0 = turn off optimization. s = optimize for size.
+# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
+
+ifeq ($(DEBUG),YES)
+OPT = 0
+else
+OPT = s
+endif
+
+# Output format. (can be ihex or binary or both)
+#  binary to create a load-image in raw-binary format i.e. for SAM-BA, 
+#  ihex to create a load-image in Intel hex format
+#LOADFORMAT = ihex
+#LOADFORMAT = binary
+LOADFORMAT = both
+
+# Debugging format.
+#DEBUGF = dwarf-2
+
+# Place project-specific -D (define) and/or 
+# -U options for C here.
+ifeq ($(ENABLE_DEBUG_PINS), YES)
+CDEFS += -DPIOS_ENABLE_DEBUG_PINS
+endif
+ifeq ($(ENABLE_AUX_UART), YES)
+CDEFS += -DPIOS_ENABLE_AUX_UART
+endif
+ifeq ($(USE_BOOTLOADER), YES)
+CDEFS += -DUSE_BOOTLOADER
+endif
+
+
+
+# Compiler flag to set the C Standard level.
+# c89   - "ANSI" C
+# gnu89 - c89 plus GCC extensions
+# c99   - ISO C99 standard (not yet fully implemented)
+# gnu99 - c99 plus GCC extensions
+CSTANDARD = -std=gnu99
+
+#-----
+
+# Compiler flags.
+
+#  -g*:          generate debugging information
+#  -O*:          optimization level
+#  -f...:        tuning, see GCC manual and avr-libc documentation
+#  -Wall...:     warning level
+#  -Wa,...:      tell GCC to pass this to the assembler.
+#    -adhlns...: create assembler listing
+#
+# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
+
+ifeq ($(DEBUG),YES)
+CFLAGS = -g$(DEBUGF) -DDEBUG
+endif
+
+CFLAGS += -DARCH_POSIX
+CFLAGS += -O$(OPT)
+CFLAGS += -mcpu=$(MCU)
+CFLAGS += $(CDEFS)
+CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
+
+CFLAGS += -fomit-frame-pointer
+ifeq ($(CODE_SOURCERY), YES)
+CFLAGS += -fpromote-loop-indices
+endif
+
+CFLAGS += -Wall 
+CFLAGS += -Werror
+# Compiler flags to generate dependency files:
+CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d
+
+# flags only for C
+#CONLYFLAGS += -Wnested-externs 
+CONLYFLAGS += $(CSTANDARD)
+
+# Assembler flags.
+#  -Wa,...:    tell GCC to pass this to the assembler.
+#  -ahlns:     create listing
+ASFLAGS  = -mcpu=$(MCU) -I. -x assembler-with-cpp
+ASFLAGS += $(ADEFS)
+ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
+ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
+
+MATH_LIB = -lm
+
+# Linker flags.
+#  -Wl,...:     tell GCC to pass this to linker.
+#    -Map:      create map file
+#    --cref:    add cross reference to  map file
+LDFLAGS += -lpthread 
+LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
+LDFLAGS += -lc
+LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))
+LDFLAGS += $(MATH_LIB)
+LDFLAGS += -lc -lgcc 
+
+
+
+
+# Define programs and commands.
+CC      = $(TCHAIN_PREFIX)gcc
+CPP     = $(TCHAIN_PREFIX)g++
+AR      = $(TCHAIN_PREFIX)ar
+OBJCOPY = $(TCHAIN_PREFIX)objcopy
+OBJDUMP = $(TCHAIN_PREFIX)objdump
+SIZE    = $(TCHAIN_PREFIX)size
+NM      = $(TCHAIN_PREFIX)nm
+REMOVE  = $(REMOVE_CMD) -f
+###SHELL   = sh
+###COPY    = cp
+
+
+
+# Define Messages
+# English
+MSG_ERRORS_NONE = Errors: none
+MSG_BEGIN = ${quote}-------- begin (mode: $(RUN_MODE)) --------${quote}
+MSG_END = ${quote}--------  end  --------${quote}
+MSG_MODINIT = ${quote}**** Generating ModInit.c${quote}
+MSG_SIZE_BEFORE = ${quote}Size before:${quote} 
+MSG_SIZE_AFTER = ${quote}Size after build:${quote}
+MSG_LOAD_FILE = ${quote}Creating load file:${quote}
+MSG_EXTENDED_LISTING = ${quote}Creating Extended Listing/Disassembly:${quote}
+MSG_SYMBOL_TABLE = ${quote}Creating Symbol Table:${quote}
+MSG_LINKING = ${quote}**** Linking :${quote}
+MSG_COMPILING = ${quote}**** Compiling C :${quote}
+MSG_COMPILING_ARM = ${quote}**** Compiling C (ARM-only):${quote}
+MSG_COMPILINGCPP = ${quote}Compiling C++ :${quote}
+MSG_COMPILINGCPP_ARM = ${quote}Compiling C++ (ARM-only):${quote}
+MSG_ASSEMBLING = ${quote}**** Assembling:${quote}
+MSG_ASSEMBLING_ARM = ${quote}****Assembling (ARM-only):${quote}
+MSG_CLEANING = ${quote}Cleaning project:${quote}
+MSG_FORMATERROR = ${quote}Can not handle output-format${quote}
+MSG_ASMFROMC = ${quote}Creating asm-File from C-Source:${quote}
+MSG_ASMFROMC_ARM = ${quote}Creating asm-File from C-Source (ARM-only):${quote}
+
+# List of all source files.
+ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
+# List of all source files without directory and file-extension.
+ALLSRCBASE = $(notdir $(basename $(ALLSRC)))
+
+# Define all object files.
+ALLOBJ     = $(addprefix $(OUTDIR)/, $(addsuffix .o, $(ALLSRCBASE)))
+
+# Define all listing files (used for make clean).
+LSTFILES   = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
+# Define all depedency-files (used for make clean).
+DEPFILES   = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
+
+elf: $(OUTDIR)/$(TARGET).elf 
+lss: $(OUTDIR)/$(TARGET).lss
+sym: $(OUTDIR)/$(TARGET).sym
+hex: $(OUTDIR)/$(TARGET).hex
+bin: $(OUTDIR)/$(TARGET).bin
+
+# Default target.
+#all: begin gccversion sizebefore build sizeafter finished end
+#all: begin gccversion build sizeafter finished end
+all: elf
+
+ifeq ($(LOADFORMAT),ihex)
+build: elf hex lss sym
+else 
+ifeq ($(LOADFORMAT),binary)
+build: elf bin lss sym
+else 
+ifeq ($(LOADFORMAT),both)
+build: elf hex bin lss sym
+else 
+$(error "$(MSG_FORMATERROR) $(FORMAT)")
+endif
+endif
+endif
+
+# Test if quotes are needed for the echo-command
+result = ${shell echo "test"}
+ifeq (${result}, test)
+	quote = '
+else
+	quote = 
+endif
+
+${OUTDIR}/InitMods.c: Makefile.posix
+	@echo ${MSG_MODINIT}
+	@echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c 
+	@echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}${quote}  >> ${OUTDIR}/InitMods.c
+	@echo ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c
+	@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote}  >> ${OUTDIR}/InitMods.c
+	@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
+	
+# Eye candy.
+begin:
+##	@echo
+	@echo $(MSG_BEGIN)
+
+finished:
+##	@echo $(MSG_ERRORS_NONE)
+
+end:
+	@echo $(MSG_END)
+##	@echo
+
+# Display sizes of sections.
+ELFSIZE = $(SIZE) -A  $(OUTDIR)/$(TARGET).elf
+##ELFSIZE = $(SIZE) --format=Berkeley --common $(OUTDIR)/$(TARGET).elf
+sizebefore:
+#	@if [ -f  $(OUTDIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi
+
+sizeafter:
+#	@if [ -f  $(OUTDIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
+	@echo $(MSG_SIZE_AFTER)
+	$(ELFSIZE)
+	
+# Display compiler version information.
+gccversion : 
+	@$(CC) --version
+#	@echo $(ALLOBJ)
+
+# Program the device.
+ifeq ($(FLASH_TOOL),OPENOCD)
+# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
+program: $(OUTDIR)/$(TARGET).elf
+	@echo ${quote}Programming with OPENOCD${quote}
+	$(OOCD_EXE) $(OOCD_CL)
+endif
+
+# Create final output file (.hex) from ELF output file.
+%.hex: %.elf
+##	@echo
+	@echo $(MSG_LOAD_FILE) $@
+	$(OBJCOPY) -O ihex $< $@
+	
+# Create final output file (.bin) from ELF output file.
+%.bin: %.elf
+##	@echo
+	@echo $(MSG_LOAD_FILE) $@
+	$(OBJCOPY) -O binary $< $@
+
+# Create extended listing file/disassambly from ELF output file.
+# using objdump testing: option -C
+%.lss: %.elf
+##	@echo
+	@echo $(MSG_EXTENDED_LISTING) $@
+	$(OBJDUMP) -h -S -C -r $< > $@
+#	$(OBJDUMP) -x -S $< > $@
+
+# Create a symbol table from ELF output file.
+%.sym: %.elf
+##	@echo
+	@echo $(MSG_SYMBOL_TABLE) $@
+	$(NM) -n $< > $@
+
+# Link: create ELF output file from object files.
+.SECONDARY : $(TARGET).elf
+.PRECIOUS : $(ALLOBJ)
+%.elf:  $(ALLOBJ)
+	@echo $(MSG_LINKING) $@
+# use $(CC) for C-only projects or $(CPP) for C++-projects:
+	$(CC) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS)
+#	$(CPP) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS)
+
+
+# Assemble: create object files from assembler source files.
+define ASSEMBLE_TEMPLATE
+$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
+##	@echo
+	@echo $(MSG_ASSEMBLING) $$<  to  $$@
+	$(CC) -c $(THUMB) $$(ASFLAGS) $$< -o $$@ 
+endef
+$(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src)))) 
+
+# Assemble: create object files from assembler source files. ARM-only
+define ASSEMBLE_ARM_TEMPLATE
+$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
+##	@echo
+	@echo $(MSG_ASSEMBLING_ARM) $$<  to  $$@
+	$(CC) -c $$(ASFLAGS) $$< -o $$@ 
+endef
+$(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src)))) 
+
+
+# Compile: create object files from C source files.
+define COMPILE_C_TEMPLATE
+$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
+##	@echo
+	@echo $(MSG_COMPILING) $$<  to  $$@
+	$(CC) -c $(THUMB) $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@ 
+endef
+$(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src)))) 
+
+# Compile: create object files from C source files. ARM-only
+define COMPILE_C_ARM_TEMPLATE
+$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
+##	@echo
+	@echo $(MSG_COMPILING_ARM) $$<  to  $$@
+	$(CC) -c $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@ 
+endef
+$(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src)))) 
+
+
+# Compile: create object files from C++ source files.
+define COMPILE_CPP_TEMPLATE
+$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
+##	@echo
+	@echo $(MSG_COMPILINGCPP) $$<  to  $$@
+	$(CC) -c $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@ 
+endef
+$(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src)))) 
+
+# Compile: create object files from C++ source files. ARM-only
+define COMPILE_CPP_ARM_TEMPLATE
+$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
+##	@echo
+	@echo $(MSG_COMPILINGCPP_ARM) $$<  to  $$@
+	$(CC) -c $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@ 
+endef
+$(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src)))) 
+
+
+# Compile: create assembler files from C source files. ARM/Thumb
+$(SRC:.c=.s) : %.s : %.c
+	@echo $(MSG_ASMFROMC) $< to $@
+	$(CC) $(THUMB) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@
+
+# Compile: create assembler files from C source files. ARM only
+$(SRCARM:.c=.s) : %.s : %.c
+	@echo $(MSG_ASMFROMC_ARM) $< to $@
+	$(CC) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@
+
+# Generate Doxygen documents
+docs:
+	doxygen  $(DOXYGENDIR)/doxygen.cfg
+	
+# Target: clean project.
+clean: begin clean_list finished end
+
+clean_list :
+##	@echo
+	@echo $(MSG_CLEANING)
+	$(REMOVE) $(OUTDIR)/$(TARGET).map
+	$(REMOVE) $(OUTDIR)/$(TARGET).elf
+	$(REMOVE) $(OUTDIR)/$(TARGET).hex
+	$(REMOVE) $(OUTDIR)/$(TARGET).bin
+	$(REMOVE) $(OUTDIR)/$(TARGET).sym
+	$(REMOVE) $(OUTDIR)/$(TARGET).lss
+	$(REMOVE) $(ALLOBJ)
+	$(REMOVE) $(LSTFILES)
+	$(REMOVE) $(DEPFILES)
+	$(REMOVE) $(SRC:.c=.s)
+	$(REMOVE) $(SRCARM:.c=.s)
+	$(REMOVE) $(CPPSRC:.cpp=.s)
+	$(REMOVE) $(CPPSRCARM:.cpp=.s)
+
+
+# Create output files directory
+# all known MS Windows OS define the ComSpec environment variable
+ifdef ComSpec
+$(shell md $(OUTDIR) 2>NUL)
+else
+$(shell mkdir $(OUTDIR) 2>/dev/null)
+endif
+
+# Include the dependency files.
+ifdef ComSpec
+-include $(shell md $(OUTDIR)\dep 2>NUL) $(wildcard $(OUTDIR)/dep/*)
+else
+-include $(shell mkdir $(OUTDIR) 2>/dev/null) $(shell mkdir $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
+endif
+
+
+
+# Listing of phony targets.
+.PHONY : all begin finish end sizebefore sizeafter gccversion \
+build elf hex bin lss sym clean clean_list program
+

flight/OpenPilot.posix/Modules/Actuator/actuator.c

@@ -0,0 +1,277 @@
+/**
+ ******************************************************************************
+ *
+ * @file       actuator.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Actuator module. Drives the actuators (servos, motors etc).
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+#include "actuator.h"
+#include "actuatorsettings.h"
+#include "systemsettings.h"
+#include "actuatordesired.h"
+#include "actuatorcommand.h"
+
+// Private constants
+#define MAX_QUEUE_SIZE 2
+#define STACK_SIZE configMINIMAL_STACK_SIZE
+#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
+#define FAILSAFE_TIMEOUT_MS 100
+
+// Private types
+
+// Private variables
+static xQueueHandle queue;
+static xTaskHandle taskHandle;
+
+// Private functions
+static void actuatorTask(void* parameters);
+static int32_t mixerFixedWing(const ActuatorSettingsData* settings, const ActuatorDesiredData* desired, ActuatorCommandData* cmd);
+static int32_t mixerFixedWingElevon(const ActuatorSettingsData* settings, const ActuatorDesiredData* desired, ActuatorCommandData* cmd);
+static int32_t mixerVTOL(const ActuatorSettingsData* settings, const ActuatorDesiredData* desired, ActuatorCommandData* cmd);
+static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutral);
+static void setFailsafe();
+
+/**
+ * Module initialization
+ */
+int32_t ActuatorInitialize()
+{
+	// Create object queue
+	queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
+
+	// Listen for ExampleObject1 updates
+	ActuatorDesiredConnectQueue(queue);
+
+	// Start main task
+	xTaskCreate(actuatorTask, (signed char*)"Actuator", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
+
+	return 0;
+}
+
+/**
+ * Main module task
+ */
+static void actuatorTask(void* parameters)
+{
+	UAVObjEvent ev;
+	ActuatorSettingsData settings;
+	SystemSettingsData sysSettings;
+	ActuatorDesiredData desired;
+	ActuatorCommandData cmd;
+
+	// Set servo update frequency (done only on start-up)
+	ActuatorSettingsGet(&settings);
+	PIOS_Servo_SetHz(settings.ChannelUpdateFreq[0], settings.ChannelUpdateFreq[1]);
+
+	// Go to the neutral (failsafe) values until an ActuatorDesired update is received
+	setFailsafe();
+
+	// Main task loop
+	while (1)
+	{
+		// Wait until the ActuatorDesired object is updated, if a timeout then go to failsafe
+		if ( xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE )
+		{
+			setFailsafe();
+			continue;
+		}
+
+		// Read settings
+		ActuatorSettingsGet(&settings);
+		SystemSettingsGet(&sysSettings);
+
+		// Reset ActuatorCommand to neutral values
+		for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
+		{
+			cmd.Channel[n] = settings.ChannelNeutral[n];
+		}
+
+		// Read input object
+		ActuatorDesiredGet(&desired);
+
+		// Call appropriate mixer depending on the airframe configuration
+		if ( sysSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_FIXEDWING )
+		{
+			if ( mixerFixedWing(&settings, &desired, &cmd) == -1 )
+			{
+				AlarmsSet(SYSTEMALARMS_ALARM_ACTUATOR, SYSTEMALARMS_ALARM_CRITICAL);
+			}
+			else
+			{
+				AlarmsClear(SYSTEMALARMS_ALARM_ACTUATOR);
+			}
+		}
+		else if ( sysSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_FIXEDWINGELEVON )
+		{
+			if ( mixerFixedWingElevon(&settings, &desired, &cmd) == -1 )
+			{
+				AlarmsSet(SYSTEMALARMS_ALARM_ACTUATOR, SYSTEMALARMS_ALARM_CRITICAL);
+			}
+			else
+			{
+				AlarmsClear(SYSTEMALARMS_ALARM_ACTUATOR);
+			}
+		}
+		else if ( sysSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_VTOL )
+		{
+			if ( mixerVTOL(&settings, &desired, &cmd) == -1 )
+			{
+				AlarmsSet(SYSTEMALARMS_ALARM_ACTUATOR, SYSTEMALARMS_ALARM_CRITICAL);
+			}
+			else
+			{
+				AlarmsClear(SYSTEMALARMS_ALARM_ACTUATOR);
+			}
+		}
+
+		// Update servo outputs
+		for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
+		{
+			PIOS_Servo_Set( n+1, cmd.Channel[n] );
+		}
+
+		// Update output object
+		ActuatorCommandSet(&cmd);
+	}
+}
+
+/**
+ * Mixer for Fixed Wing airframes. Converts desired roll,pitch,yaw and throttle to servo outputs.
+ * @return -1 if error, 0 if success
+ */
+static int32_t mixerFixedWing(const ActuatorSettingsData* settings, const ActuatorDesiredData* desired, ActuatorCommandData* cmd)
+{
+	// Check settings
+	if ( settings->FixedWingPitch1 == ACTUATORSETTINGS_FIXEDWINGPITCH1_NONE ||
+		 settings->FixedWingRoll1 == ACTUATORSETTINGS_FIXEDWINGROLL1_NONE ||
+		 settings->FixedWingThrottle == ACTUATORSETTINGS_FIXEDWINGTHROTTLE_NONE )
+	{
+		return -1;
+	}
+
+	// Set pitch servo command
+	cmd->Channel[ settings->FixedWingPitch1 ] = scaleChannel(desired->Pitch, settings->ChannelMax[ settings->FixedWingPitch1 ],
+			                                                 settings->ChannelMin[ settings->FixedWingPitch1 ],
+			                                                 settings->ChannelNeutral[ settings->FixedWingPitch1 ]);
+	if ( settings->FixedWingPitch2 != ACTUATORSETTINGS_FIXEDWINGPITCH2_NONE )
+	{
+		cmd->Channel[ settings->FixedWingPitch2 ] = scaleChannel(desired->Pitch, settings->ChannelMax[ settings->FixedWingPitch2 ],
+																 settings->ChannelMin[ settings->FixedWingPitch2 ],
+																 settings->ChannelNeutral[ settings->FixedWingPitch2 ]);
+	}
+
+	// Set roll servo command
+	cmd->Channel[ settings->FixedWingRoll1 ] = scaleChannel(desired->Roll, settings->ChannelMax[ settings->FixedWingRoll1 ],
+			                                                 settings->ChannelMin[ settings->FixedWingRoll1 ],
+			                                                 settings->ChannelNeutral[ settings->FixedWingRoll1 ]);
+	if ( settings->FixedWingRoll2 != ACTUATORSETTINGS_FIXEDWINGROLL2_NONE )
+	{
+		cmd->Channel[ settings->FixedWingRoll2 ] = scaleChannel(desired->Roll, settings->ChannelMax[ settings->FixedWingRoll2 ],
+															    settings->ChannelMin[ settings->FixedWingRoll2 ],
+																settings->ChannelNeutral[ settings->FixedWingRoll2 ]);
+	}
+
+	// Set yaw servo command
+	if ( settings->FixedWingYaw != ACTUATORSETTINGS_FIXEDWINGYAW_NONE )
+	{
+		cmd->Channel[ settings->FixedWingYaw ] = scaleChannel(desired->Yaw, settings->ChannelMax[ settings->FixedWingYaw ],
+														      settings->ChannelMin[ settings->FixedWingYaw ],
+															  settings->ChannelNeutral[ settings->FixedWingYaw ]);
+	}
+
+	// Set throttle servo command
+	cmd->Channel[ settings->FixedWingThrottle ] = scaleChannel(desired->Throttle, settings->ChannelMax[ settings->FixedWingThrottle ],
+			                                                 settings->ChannelMin[ settings->FixedWingThrottle ],
+			                                                 settings->ChannelNeutral[ settings->FixedWingThrottle ]);
+
+	// Done
+	return 0;
+}
+
+/**
+ * Mixer for Fixed Wing airframes with elevons. Converts desired roll,pitch,yaw and throttle to servo outputs.
+ * @return -1 if error, 0 if success
+ */
+static int32_t mixerFixedWingElevon(const ActuatorSettingsData* settings, const ActuatorDesiredData* desired, ActuatorCommandData* cmd)
+{
+	// TODO: Implement elevon mixer
+	return -1;
+}
+
+/**
+ * Mixer for VTOL (quads and octo copters). Converts desired roll,pitch,yaw and throttle to servo outputs.
+ * @return -1 if error, 0 if success
+ */
+static int32_t mixerVTOL(const ActuatorSettingsData* settings, const ActuatorDesiredData* desired, ActuatorCommandData* cmd)
+{
+	// TODO: Implement VTOL mixer
+	return -1;
+}
+
+/**
+ * Convert channel from -1/+1 to servo pulse duration in microseconds
+ */
+static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutral)
+{
+	int16_t valueScaled;
+	// Scale
+	if ( value >= 0.0)
+	{
+		valueScaled = (int16_t)(value*((float)(max-neutral))) + neutral;
+	}
+	else
+	{
+		valueScaled = (int16_t)(value*((float)(neutral-min))) + neutral;
+	}
+	return valueScaled;
+}
+
+/**
+ * Set actuator output to the neutral values (failsafe)
+ */
+static void setFailsafe()
+{
+	ActuatorSettingsData settings;
+	ActuatorCommandData cmd;
+
+	// Read settings
+	ActuatorSettingsGet(&settings);
+
+	// Reset ActuatorCommand to neutral values
+	for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
+	{
+		cmd.Channel[n] = settings.ChannelNeutral[n];
+	}
+
+	// Set alarm
+	AlarmsSet(SYSTEMALARMS_ALARM_ACTUATOR, SYSTEMALARMS_ALARM_CRITICAL);
+
+	// Update servo outputs
+	for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
+	{
+		PIOS_Servo_Set( n+1, cmd.Channel[n] );
+	}
+
+	// Update output object
+	ActuatorCommandSet(&cmd);
+}

flight/OpenPilot.posix/Modules/Actuator/inc/actuator.h

@@ -0,0 +1,31 @@
+/**
+ ******************************************************************************
+ *
+ * @file       actuator.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Actuator module. Drives the actuators (servos, motors etc).
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef ACTUATOR_H
+#define ACTUATOR_H
+
+int32_t ActuatorInitialize();
+
+#endif // ACTUATOR_H

flight/OpenPilot.posix/Modules/Altitude/altitude.c

@@ -0,0 +1,107 @@
+/**
+ ******************************************************************************
+ *
+ * @file       altitude.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Altitude module, handles temperature and pressure readings from BMP085
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+/**
+ * Output object: AltitudeActual
+ *
+ * This module will periodically update the value of the AltitudeActual object.
+ *
+ */
+
+#include "openpilot.h"
+#include "altitudeactual.h" // object that will be updated by the module
+
+// Private constants
+#define STACK_SIZE configMINIMAL_STACK_SIZE
+#define TASK_PRIORITY (tskIDLE_PRIORITY+3)
+#define UPDATE_PERIOD 100
+
+// Private types
+
+// Private variables
+static xTaskHandle taskHandle;
+
+// Private functions
+static void altitudeTask(void* parameters);
+
+/**
+ * Initialise the module, called on startup
+ * \returns 0 on success or -1 if initialisation failed
+ */
+int32_t AltitudeInitialize()
+{
+	// Start main task
+	xTaskCreate(altitudeTask, (signed char*)"Altitude", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
+
+	return 0;
+}
+
+/**
+ * Module thread, should not return.
+ */
+static void altitudeTask(void* parameters)
+{
+	AltitudeActualData data;
+	portTickType lastSysTime;
+
+	PIOS_BMP085_Init();
+
+	// Main task loop
+	lastSysTime = xTaskGetTickCount();
+	while (1)
+	{
+		// Update the temperature data
+		PIOS_BMP085_StartADC(TemperatureConv);
+#if 0
+		xSemaphoreTake(PIOS_BMP085_EOC, portMAX_DELAY);
+#else
+		vTaskDelay( 5 / portTICK_RATE_MS );
+#endif
+		PIOS_BMP085_ReadADC();
+		// Convert from 1/10ths of degC to degC
+		data.Temperature = PIOS_BMP085_GetTemperature() / 10.0;
+
+		// Update the pressure data
+		PIOS_BMP085_StartADC(PressureConv);
+#if 0
+		xSemaphoreTake(PIOS_BMP085_EOC, portMAX_DELAY);
+#else
+		vTaskDelay( 26 / portTICK_RATE_MS );
+#endif
+		PIOS_BMP085_ReadADC();
+		// Convert from Pa to kPa
+		data.Pressure = PIOS_BMP085_GetPressure() / 1000.0;
+
+		// Compute the current altitude (all pressures in kPa)
+		data.Altitude = 44330.0 * (1.0 - powf((data.Pressure/ (BMP085_P0 / 1000.0)), (1.0/5.255)));
+
+		// Update the AltitudeActual UAVObject
+		AltitudeActualSet(&data);
+
+		// Delay until it is time to read the next sample
+		vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD / portTICK_RATE_MS );
+	}
+}

flight/OpenPilot.posix/Modules/Altitude/inc/altitude.h

@@ -0,0 +1,32 @@
+/**
+ ******************************************************************************
+ *
+ * @file       altitude.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Altitude module, reads temperature and pressure from BMP085
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef ALTITUDE_H
+#define ALTITUDE_H
+
+int32_t AltitudeInitialize();
+
+#endif // ALTITUDE_H
+

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

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

flight/OpenPilot.posix/Modules/Attitude/inc/attitude.h

@@ -0,0 +1,34 @@
+/**
+ ******************************************************************************
+ *
+ * @file       attitude.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Module to read the attitude solution from the AHRS on a periodic basis.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef ATTITUDE_H
+#define ATTITUDE_H
+
+#include "openpilot.h"
+
+int32_t AttitudeInitialize(void);
+
+#endif // ATTITUDE_H
+

flight/OpenPilot.posix/Modules/Battery/battery.c

@@ -0,0 +1,118 @@
+/**
+ ******************************************************************************
+ *
+ * @file       attitude.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Module to read the attitude solution from the AHRS on a periodic basis.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+/**
+ * Output object: FlightBatteryState
+ *
+ * This module will periodically generate information on the battery state.
+ *
+ * UAVObjects are automatically generated by the UAVObjectGenerator from
+ * the object definition XML file.
+ *
+ * Modules have no API, all communication to other modules is done through UAVObjects.
+ * However modules may use the API exposed by shared libraries.
+ * See the OpenPilot wiki for more details.
+ * http://www.openpilot.org/OpenPilot_Application_Architecture
+ *
+ */
+
+#include "openpilot.h"
+
+#include "flightbatterystate.h"
+
+//
+// Configuration
+//
+#define DEBUG_PORT			PIOS_COM_TELEM_RF
+#define STACK_SIZE			1024
+#define TASK_PRIORITY		(tskIDLE_PRIORITY + 3)
+#define SAMPLE_PERIOD_MS	500
+//#define ENABLE_DEBUG_MSG
+
+#ifdef ENABLE_DEBUG_MSG
+	#define DEBUG_MSG(format, ...) PIOS_COM_SendFormattedString(DEBUG_PORT, format, ## __VA_ARGS__)
+#else
+	#define DEBUG_MSG(format, ...)
+#endif
+
+
+
+// Private types
+
+// Private variables
+static xTaskHandle taskHandle;
+
+// Private functions
+static void task(void* parameters);
+
+/**
+ * Initialise the module, called on startup
+ * \returns 0 on success or -1 if initialisation failed
+ */
+int32_t BatteryInitialize(void)
+{
+	// Start main task
+	xTaskCreate(task, (signed char*)"Battery", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
+
+	return 0;
+}
+
+/**
+ * Module thread, should not return.
+ */
+static void task(void* parameters)
+{
+	uint cnt = 0;
+	uint32_t mAs = 0;
+	portTickType lastSysTime;
+	FlightBatteryStateData flightBatteryData;
+
+	PIOS_COM_ChangeBaud(DEBUG_PORT, 57600);
+
+	DEBUG_MSG("Battery Started\n");
+
+	lastSysTime = xTaskGetTickCount();
+	while(1)
+	{
+		// TODO: Compare with floating point calculations
+
+		uint32_t mV, mA;
+
+		mV = PIOS_ADC_PinGet(2)*1257/100;
+		mA = (PIOS_ADC_PinGet(1)-28)*4871/100;
+		mAs += mA * SAMPLE_PERIOD_MS / 1000;		// FIXME: Use real time between samples
+
+		DEBUG_MSG("%03d %06d => %06dmV   %06d => %06dmA  %06dmAh\n", cnt,  PIOS_ADC_PinGet(2), mV, PIOS_ADC_PinGet(1), mA, mAs/3600);
+		cnt++;
+
+		flightBatteryData.Voltage = (float)mV/1000;
+		flightBatteryData.Current = (float)mA/1000;
+		flightBatteryData.ConsumedEnergy = mAs / 3600;
+		FlightBatteryStateSet(&flightBatteryData);
+
+		vTaskDelayUntil(&lastSysTime, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
+	}
+}

flight/OpenPilot.posix/Modules/Battery/inc/battery.h

@@ -0,0 +1,34 @@
+/**
+ ******************************************************************************
+ *
+ * @file       attitude.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Module to read the attitude solution from the AHRS on a periodic basis.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef BATTERY_H
+#define BATTERY_H
+
+#include "openpilot.h"
+
+int32_t BatteryInitialize(void);
+
+#endif // BATTERY_H
+

flight/OpenPilot.posix/Modules/Example/example.c

@@ -0,0 +1,59 @@
+/**
+ ******************************************************************************
+ *
+ * @file       examplemodevent.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Example module to be used as a template for actual modules.
+ *             Event callback version.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+/**
+ * Input objects: ExampleObject1, ExampleSettings
+ * Output object: ExampleObject2
+ *
+ * This module executes in response to ExampleObject1 updates. When the
+ * module is triggered it will update the data of ExampleObject2.
+ *
+ * No threads are used in this example.
+ *
+ * UAVObjects are automatically generated by the UAVObjectGenerator from
+ * the object definition XML file.
+ *
+ * Modules have no API, all communication to other modules is done through UAVObjects.
+ * However modules may use the API exposed by shared libraries.
+ * See the OpenPilot wiki for more details.
+ * http://www.openpilot.org/OpenPilot_Application_Architecture
+ *
+ */
+
+#include "openpilot.h"
+#include "examplemodevent.h"
+#include "examplemodperiodic.h"
+#include "examplemodthread.h"
+
+
+void ExampleInitialize(void)
+{
+	ExampleModEventInitialize();
+	ExampleModPeriodicInitialize();
+	ExampleModThreadInitialize();
+}
+

flight/OpenPilot.posix/Modules/Example/examplemodevent.c

@@ -0,0 +1,129 @@
+/**
+ ******************************************************************************
+ *
+ * @file       examplemodevent.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Example module to be used as a template for actual modules.
+ *             Event callback version.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+/**
+ * Input objects: ExampleObject1, ExampleSettings
+ * Output object: ExampleObject2
+ *
+ * This module executes in response to ExampleObject1 updates. When the
+ * module is triggered it will update the data of ExampleObject2.
+ *
+ * No threads are used in this example.
+ *
+ * UAVObjects are automatically generated by the UAVObjectGenerator from
+ * the object definition XML file.
+ *
+ * Modules have no API, all communication to other modules is done through UAVObjects.
+ * However modules may use the API exposed by shared libraries.
+ * See the OpenPilot wiki for more details.
+ * http://www.openpilot.org/OpenPilot_Application_Architecture
+ *
+ */
+
+#include "openpilot.h"
+#include "examplemodevent.h"
+#include "exampleobject1.h" // object the module will listen for updates (input)
+#include "exampleobject2.h" // object the module will update (output)
+#include "examplesettings.h" // object holding module settings (input)
+
+// Private constants
+
+// Private types
+
+// Private variables
+
+// Private functions
+static void ObjectUpdatedCb(UAVObjEvent* ev);
+
+/**
+ * Initialise the module, called on startup.
+ * \returns 0 on success or -1 if initialisation failed
+ */
+int32_t ExampleModEventInitialize()
+{
+	// Listen for ExampleObject1 updates, connect a callback function
+	ExampleObject1ConnectCallback(&ObjectUpdatedCb);
+
+	return 0;
+}
+
+/**
+ * This function is called each time ExampleObject1 is updated, this could be
+ * a local update or a remote update from the GCS. In this example the module
+ * does not have its own thread, the callbacks are executed from within the
+ * event thread. Because of that the callback execution time must be kept to
+ * a minimum, if the callback needs to wait for I/O or other long operations
+ * then a thread should be used instead (see ExampleModThread.c). This is
+ * important since all callbacks are executed from the same thread, so other
+ * queued events can not be executed until the currently active callback returns.
+ */
+static void ObjectUpdatedCb(UAVObjEvent* ev)
+{
+	ExampleSettingsData settings;
+	ExampleObject1Data data1;
+	ExampleObject2Data data2;
+	int32_t step;
+
+	// Make sure that the object update is for ExampleObject1
+	// This is redundant in this case since this callback will
+	// only be called for a single object, it is however possible
+	// to use the same callback for multiple object updates.
+	if ( ev->obj == ExampleObject1Handle() )
+	{
+		// Update settings with latest value
+		ExampleSettingsGet(&settings);
+
+		// Get the input object
+		ExampleObject1Get(&data1);
+
+		// Determine how to update the output object
+		if ( settings.StepDirection == EXAMPLESETTINGS_STEPDIRECTION_UP )
+		{
+			step = settings.StepSize;
+		}
+		else
+		{
+			step = -settings.StepSize;
+		}
+
+		// Update data
+		data2.Field1 = data1.Field1 + step;
+		data2.Field2 = data1.Field2 + step;
+		data2.Field3 = data1.Field3 + step;
+		data2.Field4[0] = data1.Field4[0] + step;
+		data2.Field4[1] = data1.Field4[1] + step;
+
+		// Update the ExampleObject2, after this function is called
+		// notifications to any other modules listening to that object
+		// will be sent and the GCS object will be updated through the
+		// telemetry link. All operations will take place asynchronously
+		// and the following call will return immediately.
+		ExampleObject2Set(&data2);
+	}
+}
+
+

flight/OpenPilot.posix/Modules/Example/examplemodperiodic.c

@@ -0,0 +1,126 @@
+/**
+ ******************************************************************************
+ *
+ * @file       examplemodperiodic.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Example module to be used as a template for actual modules.
+ *             Threaded periodic version.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+/**
+ * Input object: ExampleSettings
+ * Output object: ExampleObject2
+ *
+ * This module will periodically update the value of the ExampleObject object.
+ * The module settings can configure how the ExampleObject is manipulated.
+ *
+ * The module executes in its own thread in this example.
+ *
+ * UAVObjects are automatically generated by the UAVObjectGenerator from
+ * the object definition XML file.
+ *
+ * Modules have no API, all communication to other modules is done through UAVObjects.
+ * However modules may use the API exposed by shared libraries.
+ * See the OpenPilot wiki for more details.
+ * http://www.openpilot.org/OpenPilot_Application_Architecture
+ *
+ */
+
+#include "openpilot.h"
+#include "examplemodperiodic.h"
+#include "exampleobject2.h" // object that will be updated by the module
+#include "examplesettings.h" // object holding module settings
+
+// Private constants
+#define STACK_SIZE configMINIMAL_STACK_SIZE
+#define TASK_PRIORITY (tskIDLE_PRIORITY+1)
+
+// Private types
+
+// Private variables
+static xTaskHandle taskHandle;
+
+// Private functions
+static void exampleTask(void* parameters);
+
+/**
+ * Initialise the module, called on startup
+ * \returns 0 on success or -1 if initialisation failed
+ */
+int32_t ExampleModPeriodicInitialize()
+{
+	// Start main task
+	xTaskCreate(exampleTask, (signed char*)"ExamplePeriodic", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
+
+	return 0;
+}
+
+/**
+ * Module thread, should not return.
+ */
+static void exampleTask(void* parameters)
+{
+	ExampleSettingsData settings;
+	ExampleObject2Data data;
+	int32_t step;
+	portTickType lastSysTime;
+
+	// Main task loop
+	lastSysTime = xTaskGetTickCount();
+	while (1)
+	{
+		// Update settings with latest value
+		ExampleSettingsGet(&settings);
+
+		// Get the object data
+		ExampleObject2Get(&data);
+
+		// Determine how to update the data
+		if ( settings.StepDirection == EXAMPLESETTINGS_STEPDIRECTION_UP )
+		{
+			step = settings.StepSize;
+		}
+		else
+		{
+			step = -settings.StepSize;
+		}
+
+		// Update the data
+		data.Field1 += step;
+		data.Field2 += step;
+		data.Field3 += step;
+		data.Field4[0] += step;
+		data.Field4[1] += step;
+
+		// Update the ExampleObject, after this function is called
+		// notifications to any other modules listening to that object
+		// will be sent and the GCS object will be updated through the
+		// telemetry link. All operations will take place asynchronously
+		// and the following call will return immediately.
+		ExampleObject2Set(&data);
+
+		// Since this module executes at fixed time intervals, we need to
+		// block the task until it is time for the next update.
+		// The settings field is in ms, to convert to RTOS ticks we need
+		// to divide by portTICK_RATE_MS.
+		vTaskDelayUntil(&lastSysTime, settings.UpdatePeriod / portTICK_RATE_MS );
+	}
+}

flight/OpenPilot.posix/Modules/Example/examplemodthread.c

@@ -0,0 +1,145 @@
+/**
+ ******************************************************************************
+ *
+ * @file       examplemodthread.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Example module to be used as a template for actual modules.
+ *             Threaded version.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+/**
+ * Input objects: ExampleObject1, ExampleSettings
+ * Output object: ExampleObject2
+ *
+ * This module executes in response to ExampleObject1 updates. When the
+ * module is triggered it will update the data of ExampleObject2.
+ *
+ * The module executes in its own thread in this example.
+ *
+ * UAVObjects are automatically generated by the UAVObjectGenerator from
+ * the object definition XML file.
+ *
+ * Modules have no API, all communication to other modules is done through UAVObjects.
+ * However modules may use the API exposed by shared libraries.
+ * See the OpenPilot wiki for more details.
+ * http://www.openpilot.org/OpenPilot_Application_Architecture
+ */
+
+#include "openpilot.h"
+#include "examplemodthread.h"
+#include "exampleobject1.h" // object the module will listen for updates (input)
+#include "exampleobject2.h" // object the module will update (output)
+#include "examplesettings.h" // object holding module settings (input)
+
+// Private constants
+#define MAX_QUEUE_SIZE 20
+#define STACK_SIZE configMINIMAL_STACK_SIZE
+#define TASK_PRIORITY (tskIDLE_PRIORITY+1)
+
+// Private types
+
+// Private variables
+static xQueueHandle queue;
+static xTaskHandle taskHandle;
+
+// Private functions
+static void exampleTask(void* parameters);
+
+/**
+ * Initialise the module, called on startup
+ * \returns 0 on success or -1 if initialisation failed
+ */
+int32_t ExampleModThreadInitialize()
+{
+	// Create object queue
+	queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
+
+	// Listen for ExampleObject1 updates
+	ExampleObject1ConnectQueue(queue);
+
+	// Start main task
+	xTaskCreate(exampleTask, (signed char*)"ExampleThread", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
+
+	return 0;
+}
+
+/**
+ * Module thread, should not return.
+ */
+static void exampleTask(void* parameters)
+{
+	UAVObjEvent ev;
+	ExampleSettingsData settings;
+	ExampleObject1Data data1;
+	ExampleObject1Data data2;
+	int32_t step;
+
+	// Main task loop
+	while (1)
+	{
+		// Check the event queue for any object updates. In this case
+		// we are only listening for the ExampleSettings object. However
+		// the module could listen to multiple objects.
+		// Since this object only executes on object updates, the task
+		// will block until an object event is pushed in the queue.
+		while ( xQueueReceive(queue, &ev, portMAX_DELAY) != pdTRUE );
+
+		// Make sure that the object update is for ExampleObject1
+		// This is redundant in this example since we have only
+		// registered a single object in the queue, however
+		// in most practical cases there will be more than one
+		// object connected in the queue.
+		if ( ev.obj == ExampleObject1Handle() )
+		{
+			// Update settings with latest value
+			ExampleSettingsGet(&settings);
+
+			// Get the input object
+			ExampleObject1Get(&data1);
+
+			// Determine how to update the output object
+			if ( settings.StepDirection == EXAMPLESETTINGS_STEPDIRECTION_UP )
+			{
+				step = settings.StepSize;
+			}
+			else
+			{
+				step = -settings.StepSize;
+			}
+
+			// Update data
+			data2.Field1 = data1.Field1 + step;
+			data2.Field2 = data1.Field2 + step;
+			data2.Field3 = data1.Field3 + step;
+			data2.Field4[0] = data1.Field4[0] + step;
+			data2.Field4[1] = data1.Field4[1] + step;
+
+			// Update the ExampleObject2, after this function is called
+			// notifications to any other modules listening to that object
+			// will be sent and the GCS object will be updated through the
+			// telemetry link. All operations will take place asynchronously
+			// and the following call will return immediately.
+			ExampleObject2Set(&data2);
+		}
+	}
+}
+
+

flight/OpenPilot.posix/Modules/Example/inc/examplemodevent.h

@@ -0,0 +1,32 @@
+/**
+ ******************************************************************************
+ *
+ * @file       examplemodevent.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Example module to be used as a template for actual modules.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef EXAMPLEMODEVENT_H
+#define EXAMPLEMODEVENT_H
+
+int32_t ExampleModEventInitialize();
+
+#endif // EXAMPLEMODEVENT_H
+

flight/OpenPilot.posix/Modules/Example/inc/examplemodperiodic.h

@@ -0,0 +1,32 @@
+/**
+ ******************************************************************************
+ *
+ * @file       examplemodperiodic.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Example module to be used as a template for actual modules.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef EXAMPLEMODPERIODIC_H
+#define EXAMPLEMODPERIODIC_H
+
+int32_t ExampleModPeriodicInitialize();
+
+#endif // EXAMPLEMODPERIODIC_H
+

flight/OpenPilot.posix/Modules/Example/inc/examplemodthread.h

@@ -0,0 +1,32 @@
+/**
+ ******************************************************************************
+ *
+ * @file       examplemodthread.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Example module to be used as a template for actual modules.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef EXAMPLEMODTHREAD_H
+#define EXAMPLEMODTHREAD_H
+
+int32_t ExampleModThreadInitialize();
+
+#endif // EXAMPLEMODTHREAD_H
+

flight/OpenPilot.posix/Modules/GPS/GPS.c

@@ -0,0 +1,706 @@
+/**
+ ******************************************************************************
+ *
+ * @file       GPS.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      GPS module, handles GPS and NMEA stream
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+#include "buffer.h"
+#include "GPS.h"
+#include "positionactual.h"
+
+// constants/macros/typdefs
+#define NMEA_BUFFERSIZE		128
+
+// Message Codes
+#define NMEA_NODATA		0	// No data. Packet not available, bad, or not decoded
+#define NMEA_GPGGA		1	// Global Positioning System Fix Data
+#define NMEA_GPVTG		2	// Course over ground and ground speed
+#define NMEA_GPGLL		3	// Geographic position - latitude/longitude
+#define NMEA_GPGSV		4	// GPS satellites in view
+#define NMEA_GPGSA		5	// GPS DOP and active satellites
+#define NMEA_GPRMC		6	// Recommended minimum specific GPS data
+#define NMEA_UNKNOWN	0xFF// Packet received but not known
+
+#define GPS_TIMEOUT_MS 500
+
+// Debugging
+
+//#define GPSDEBUG
+
+#ifdef GPSDEBUG
+	#define NMEA_DEBUG_PKT	///< define to enable debug of all NMEA messages
+	#define NMEA_DEBUG_GGA	///< define to enable debug of GGA messages
+	#define NMEA_DEBUG_VTG	///< define to enable debug of VTG messages
+	#define NMEA_DEBUG_RMC	///< define to enable debug of RMC messages
+	#define NMEA_DEBUG_GSA	///< define to enable debug of GSA messages
+#endif
+
+// Private functions
+static void gpsTask(void* parameters);
+
+// functions
+char* nmeaGetPacketBuffer(void);
+char nmeaChecksum(char* gps_buffer);
+uint8_t nmeaProcess(cBuffer* rxBuffer);
+void nmeaProcessGPGGA(char* packet);
+void nmeaProcessGPRMC(char* packet);
+void nmeaProcessGPVTG(char* packet);
+void nmeaProcessGPGSA(char* packet);
+
+// Global variables
+
+// Private constants
+#define STACK_SIZE configMINIMAL_STACK_SIZE
+#define TASK_PRIORITY (tskIDLE_PRIORITY + 3)
+
+// Private types
+
+// Private variables
+static uint8_t gpsPort;
+static xTaskHandle gpsTaskHandle;
+cBuffer gpsRxBuffer;
+static char gpsRxData[512];
+char NmeaPacket[NMEA_BUFFERSIZE];
+static uint32_t numUpdates;
+static uint32_t numErrors;
+static uint32_t timeOfLastUpdateMs;
+
+/**
+ * Initialise the gps module
+ * \return -1 if initialisation failed
+ * \return 0 on success
+ */
+int32_t GPSInitialize(void)
+{
+	signed portBASE_TYPE xReturn;
+
+	// Init vars
+	numUpdates = 0;
+	numErrors = 0;
+	timeOfLastUpdateMs = 0;
+
+	// TODO: Get gps settings object
+	gpsPort = PIOS_COM_GPS;
+
+	// Init input buffer size 512
+	bufferInit(&gpsRxBuffer, (unsigned char *)gpsRxData, 512);
+
+	// Start gps task
+	xReturn = xTaskCreate(gpsTask, (signed char*)"GPS", STACK_SIZE, NULL, TASK_PRIORITY, &gpsTaskHandle);
+
+	return 0;
+}
+
+
+/**
+ * gps task. Processes input buffer. It does not return.
+ */
+static void gpsTask(void* parameters)
+{
+	int32_t gpsRxOverflow=0;
+	char c;
+	portTickType xDelay = 100 / portTICK_RATE_MS;
+	PositionActualData GpsData;
+	uint32_t timeNowMs;
+
+	// Loop forever
+	while(1)
+	{
+		/* This blocks the task until there is something on the buffer */
+		while(PIOS_COM_ReceiveBufferUsed(gpsPort) > 0)
+		{
+			c=PIOS_COM_ReceiveBuffer(gpsPort);
+			if( !bufferAddToEnd(&gpsRxBuffer, c) )
+			{
+				// no space in buffer
+				// count overflow
+				gpsRxOverflow++;
+				break;
+			}
+			nmeaProcess(&gpsRxBuffer);
+		}
+		// Check for GPS timeout
+		timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
+		if ( (timeNowMs - timeOfLastUpdateMs) > GPS_TIMEOUT_MS )
+		{
+			PositionActualGet(&GpsData);
+			GpsData.Status = POSITIONACTUAL_STATUS_NOGPS;
+			PositionActualSet(&GpsData);
+		}
+		// Block task until next update
+		vTaskDelay(xDelay);
+	}
+}
+
+char* nmeaGetPacketBuffer(void)
+{
+	return NmeaPacket;
+}
+
+/**
+ * Prosesses NMEA sentence checksum
+ * \param[in] Buffer for parsed nmea sentence
+ * \return 0 checksum not valid
+ * \return 1 checksum valid
+ */
+char nmeaChecksum(char* gps_buffer)
+{
+	char checksum=0;
+	char checksum_received=0;
+	PositionActualData GpsData;
+	PositionActualGet(&GpsData);
+
+	for(int x=0; x<NMEA_BUFFERSIZE; x++)
+	{
+		if(gps_buffer[x]=='*')
+		{
+			//Parsing received checksum...
+			checksum_received = strtol(&gps_buffer[x+1],NULL,16);
+			break;
+		}
+		else
+		{
+			//XOR the received data...
+			checksum^=gps_buffer[x];
+		}
+	}
+	//PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART,"$%d=%d\r\n",checksum_received,checksum);
+	if(checksum == checksum_received)
+	{
+		++numUpdates;
+		timeOfLastUpdateMs = xTaskGetTickCount() * portTICK_RATE_MS;
+		return 1;
+	}
+	else
+	{
+		++numErrors;
+		return 0;
+	}
+}
+
+/**
+ * Prosesses NMEA sentences
+ * \param[in] cBuffer for prosessed nmea sentences
+ * \return Message code for found packet
+ * \return 0xFF NO packet found
+ */
+uint8_t nmeaProcess(cBuffer* rxBuffer)
+{
+	uint8_t foundpacket = NMEA_NODATA;
+	uint8_t startFlag = FALSE;
+	//u08 data;
+	uint16_t i,j;
+
+	// process the receive buffer
+	// go through buffer looking for packets
+	while(rxBuffer->datalength)
+	{
+		// look for a start of NMEA packet
+		if(bufferGetAtIndex(rxBuffer,0) == '$')
+		{
+			// found start
+			startFlag = TRUE;
+			// when start is found, we leave it intact in the receive buffer
+			// in case the full NMEA string is not completely received.  The
+			// start will be detected in the next nmeaProcess iteration.
+
+			// done looking for start
+			break;
+		}
+		else
+			bufferGetFromFront(rxBuffer);
+	}
+
+	// if we detected a start, look for end of packet
+	if(startFlag)
+	{
+		for(i=1; i<(rxBuffer->datalength)-1; i++)
+		{
+			// check for end of NMEA packet <CR><LF>
+			if((bufferGetAtIndex(rxBuffer,i) == '\r') && (bufferGetAtIndex(rxBuffer,i+1) == '\n'))
+			{
+				// have a packet end
+				// dump initial '$'
+				bufferGetFromFront(rxBuffer);
+				// copy packet to NmeaPacket
+				for(j=0; j<(i-1); j++)
+				{
+					// although NMEA strings should be 80 characters or less,
+					// receive buffer errors can generate erroneous packets.
+					// Protect against packet buffer overflow
+					if(j<(NMEA_BUFFERSIZE-1))
+						NmeaPacket[j] = bufferGetFromFront(rxBuffer);
+					else
+						bufferGetFromFront(rxBuffer);
+				}
+				// null terminate it
+				if (j<(NMEA_BUFFERSIZE-1)) {
+					NmeaPacket[j] = 0;
+				} else {
+					NmeaPacket[NMEA_BUFFERSIZE-1] = 0;
+				}
+				// dump <CR><LF> from rxBuffer
+				bufferGetFromFront(rxBuffer);
+				bufferGetFromFront(rxBuffer);
+				//DEBUG
+				#ifdef NMEA_DEBUG_PKT
+				//PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART,"$%s\r\n",NmeaPacket);
+				#endif
+				// found a packet
+				// done with this processing session
+				foundpacket = NMEA_UNKNOWN;
+				break;
+			}
+		}
+	}
+
+	if(foundpacket)
+	{
+		// check message type and process appropriately
+		if(!strncmp(NmeaPacket, "GPGGA", 5))
+		{
+			// process packet of this type
+			nmeaProcessGPGGA(NmeaPacket);
+			// report packet type
+			foundpacket = NMEA_GPGGA;
+		}
+		else if(!strncmp(NmeaPacket, "GPVTG", 5))
+		{
+			// process packet of this type
+			nmeaProcessGPVTG(NmeaPacket);
+			// report packet type
+			foundpacket = NMEA_GPVTG;
+		}
+		else if(!strncmp(NmeaPacket, "GPGSA", 5))
+		{
+			// process packet of this type
+			nmeaProcessGPGSA(NmeaPacket);
+			// report packet type
+			foundpacket = NMEA_GPGSA;
+		}
+		else if(!strncmp(NmeaPacket, "GPRMC", 5))
+		{
+			// process packet of this type
+			nmeaProcessGPRMC(NmeaPacket);
+			// report packet type
+			foundpacket = NMEA_GPRMC;
+		}
+	}
+	else if(rxBuffer->datalength >= rxBuffer->size)
+	{
+		// if we found no packet, and the buffer is full
+		// we're logjammed, flush entire buffer
+		bufferFlush(rxBuffer);
+	}
+	return foundpacket;
+}
+
+/**
+ * Prosesses NMEA GPGGA sentences
+ * \param[in] Buffer for parsed nmea GPGGA sentence
+ */
+void nmeaProcessGPGGA(char* packet)
+{
+	PositionActualData GpsData;
+
+	char *tokens;
+    char *delimiter = ",";
+    char *pEnd;
+    char token_length=0;
+
+    long deg,min,desim;
+
+	#ifdef NMEA_DEBUG_GGA
+		PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART,"$%s\r\n",packet);
+	#endif
+
+	// start parsing just after "GPGGA,"
+	// attempt to reject empty packets right away
+	if(packet[6]==',' && packet[7]==',')
+		return;
+
+	if(!nmeaChecksum(packet))
+	{
+		// checksum not valid
+		return;
+	}
+
+	PositionActualGet(&GpsData);
+	// tokenizer for nmea sentence
+	//GPGGA header
+	tokens = strsep(&packet, delimiter);
+
+	// get UTC time [hhmmss.sss]
+	tokens = strsep(&packet, delimiter);
+	//strcpy(GpsInfo.TimeOfFix,tokens);
+
+	// next field: latitude
+    // get latitude [ddmm.mmmmm]
+	tokens = strsep(&packet, delimiter);
+	token_length=strlen(tokens);
+	deg=strtol (tokens,&pEnd,10);
+	min=deg%100;
+	deg=deg/100;
+	desim=strtol (pEnd+1,NULL,10);
+	if(token_length==10)// 5 desimal output
+	{
+		GpsData.Latitude=deg+(min+desim/100000.0)/60.0; // to desimal degrees
+	}
+	else if(token_length==9) // 4 desimal output
+	{
+		GpsData.Latitude=deg+(min+desim/10000.0)/60.0; // to desimal degrees
+	}
+	else if(token_length==11) // 6 desimal output OPGPS
+	{
+		GpsData.Latitude=deg+(min+desim/1000000.0)/60.0; // to desimal degrees
+	}
+
+    // next field: N/S indicator
+	// correct latitute for N/S
+	tokens = strsep(&packet, delimiter);
+	if(tokens[0] == 'S') GpsData.Latitude = -GpsData.Latitude;
+
+	// next field: longitude
+	// get longitude [dddmm.mmmmm]
+	tokens = strsep(&packet, delimiter);
+	token_length=strlen(tokens);
+	deg=strtol (tokens,&pEnd,10);
+	min=deg%100;
+	deg=deg/100;
+	desim=strtol (pEnd+1,NULL,10);
+	if(token_length==11)// 5 desimal output
+	{
+		GpsData.Longitude=deg+(min+desim/100000.0)/60.0; // to desimal degrees
+	}
+	else if(token_length==10) // 4 desimal output
+	{
+		GpsData.Longitude=deg+(min+desim/10000.0)/60.0; // to desimal degrees
+	}
+	else if(token_length==12) // 6 desimal output OPGPS
+	{
+		GpsData.Longitude=deg+(min+desim/1000000.0)/60.0; // to desimal degrees
+	}
+    // next field: E/W indicator
+	// correct latitute for E/W
+	tokens = strsep(&packet, delimiter);
+	if(tokens[0] == 'W') GpsData.Longitude = -GpsData.Longitude;
+
+    // next field: position fix status
+	// position fix status
+	// 0 = Invalid, 1 = Valid SPS, 2 = Valid DGPS, 3 = Valid PPS
+	// check for good position fix
+	tokens = strsep(&packet, delimiter);
+    //if((tokens[0] != '0') || (tokens[0] != 0))
+    //	GpsData.Updates++;
+
+    // next field: satellites used
+    // get number of satellites used in GPS solution
+    tokens = strsep(&packet, delimiter);
+	GpsData.Satellites=atoi(tokens);
+
+	// next field: HDOP (horizontal dilution of precision)
+	tokens = strsep(&packet, delimiter);
+
+	// next field: altitude
+	// get altitude (in meters mm.m)
+	tokens = strsep(&packet, delimiter);
+	//reuse variables for alt
+	deg=strtol (tokens,&pEnd,10); // always 0.1m resolution?
+	desim=strtol (pEnd+1,NULL,10);
+	if(1) // OPGPS 3 desimal
+		GpsData.Altitude=deg+desim/1000.0;
+	else
+		GpsData.Altitude=deg+desim/10.0;
+
+	// next field: altitude units, always 'M'
+	// next field: geoid seperation
+	// next field: seperation units
+	// next field: DGPS age
+	// next field: DGPS station ID
+	// next field: checksum
+	PositionActualSet(&GpsData);
+}
+
+/**
+ * Prosesses NMEA GPRMC sentences
+ * \param[in] Buffer for parsed nmea GPRMC sentence
+ */
+void nmeaProcessGPRMC(char* packet)
+{
+	PositionActualData GpsData;
+
+	char *tokens;
+    char *delimiter = ",";
+    char *pEnd;
+    char token_length=0;
+
+    long deg,min,desim;
+
+	#ifdef NMEA_DEBUG_RMC
+		PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART,"$%s\r\n",packet);
+	#endif
+
+	// start parsing just after "GPRMC,"
+	// attempt to reject empty packets right away
+	if(packet[6]==',' && packet[7]==',')
+		return;
+
+	if(!nmeaChecksum(packet))
+	{
+		// checksum not valid
+		return;
+	}
+
+	PositionActualGet(&GpsData);
+	// tokenizer for nmea sentence
+	//GPRMC header
+	tokens = strsep(&packet, delimiter);
+
+	// get UTC time [hhmmss.sss]
+	tokens = strsep(&packet, delimiter);
+	//strcpy(GpsInfo.TimeOfFix,tokens);
+	// next field: Navigation receiver warning A = OK, V = warning
+	tokens = strsep(&packet, delimiter);
+
+	// next field: latitude
+    // get latitude [ddmm.mmmmm]
+	tokens = strsep(&packet, delimiter);
+	token_length=strlen(tokens);
+	deg=strtol (tokens,&pEnd,10);
+	min=deg%100;
+	deg=deg/100;
+	desim=strtol (pEnd+1,NULL,10);
+	/*if(token_length==10)// 5 desimal output
+	{
+		GpsData.Latitude=deg+(min+desim/100000.0)/60.0; // to desimal degrees
+	}
+	else if(token_length==9) // 4 desimal output
+	{
+		GpsData.Latitude=deg+(min+desim/10000.0)/60.0; // to desimal degrees
+	}
+	else if(token_length==11) // 6 desimal output OPGPS
+	{
+		GpsData.Latitude=deg+(min+desim/1000000.0)/60.0; // to desimal degrees
+	}*/
+
+    // next field: N/S indicator
+	// correct latitute for N/S
+	tokens = strsep(&packet, delimiter);
+	//if(tokens[0] == 'S') GpsData.Latitude = -GpsData.Latitude;
+
+	// next field: longitude
+	// get longitude [dddmm.mmmmm]
+	tokens = strsep(&packet, delimiter);
+	token_length=strlen(tokens);
+	deg=strtol (tokens,&pEnd,10);
+	min=deg%100;
+	deg=deg/100;
+	desim=strtol (pEnd+1,NULL,10);
+	/*if(token_length==11)// 5 desimal output
+	{
+		GpsData.Longitude=deg+(min+desim/100000.0)/60.0; // to desimal degrees
+	}
+	else if(token_length==10) // 4 desimal output
+	{
+		GpsData.Longitude=deg+(min+desim/10000.0)/60.0; // to desimal degrees
+	}
+	else if(token_length==12) // 6 desimal output OPGPS
+	{
+		GpsData.Longitude=deg+(min+desim/1000000.0)/60.0; // to desimal degrees
+	}*/
+    // next field: E/W indicator
+	// correct latitute for E/W
+	tokens = strsep(&packet, delimiter);
+	//if(tokens[0] == 'W') GpsData.Longitude = -GpsData.Longitude;
+
+	// next field: speed (knots)
+	// get speed in knots
+	tokens = strsep(&packet, delimiter);
+	deg=strtol (tokens,&pEnd,10);
+	desim=strtol (pEnd+1,NULL,10);
+	GpsData.Groundspeed = (deg+(desim/100.0))*0.51444; //OPGPS style to m/s
+
+	// next field: True course
+	// get True course
+	tokens = strsep(&packet, delimiter);
+	deg=strtol (tokens,&pEnd,10);
+	desim=strtol (pEnd+1,NULL,10);
+	GpsData.Heading = deg+(desim/100.0); //OPGPS style
+
+	// next field: Date of fix
+	// get Date of fix
+	tokens = strsep(&packet, delimiter);
+
+	// next field: Magnetic variation
+	// next field: E or W
+	// next field: checksum
+	PositionActualSet(&GpsData);
+}
+
+
+/**
+ * Prosesses NMEA GPVTG sentences
+ * \param[in] Buffer for parsed nmea GPVTG sentence
+ */
+void nmeaProcessGPVTG(char* packet)
+{
+	PositionActualData GpsData;
+
+	char *tokens;
+    char *delimiter = ",";
+
+	#ifdef NMEA_DEBUG_VTG
+		PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART,"$%s\r\n",packet);
+	#endif
+
+	// start parsing just after "GPVTG,"
+	// attempt to reject empty packets right away
+	if(packet[6]==',' && packet[7]==',')
+		return;
+
+	if(!nmeaChecksum(packet))
+	{
+		// checksum not valid
+		return;
+	}
+	PositionActualGet(&GpsData);
+	// tokenizer for nmea sentence
+
+	//GPVTG header
+	tokens = strsep(&packet, delimiter);
+
+	// get course (true north ref) in degrees [ddd.dd]
+	tokens = strsep(&packet, delimiter);
+    // next field: 'T'
+	tokens = strsep(&packet, delimiter);
+
+    // next field: course (magnetic north)
+ 	// get course (magnetic north ref) in degrees [ddd.dd]
+	tokens = strsep(&packet, delimiter);
+	// next field: 'M'
+	tokens = strsep(&packet, delimiter);
+
+	// next field: speed (knots)
+	// get speed in knots
+	tokens = strsep(&packet, delimiter);
+	// next field: 'N'
+	tokens = strsep(&packet, delimiter);
+
+	// next field: speed (km/h)
+	// get speed in km/h
+	tokens = strsep(&packet, delimiter);
+	// next field: 'K'
+	// next field: checksum
+	PositionActualSet(&GpsData);
+
+}
+
+/**
+ * Prosesses NMEA GPGSA sentences
+ * \param[in] Buffer for parsed nmea GPGSA sentence
+ */
+void nmeaProcessGPGSA(char* packet)
+{
+	PositionActualData GpsData;
+
+	char *tokens;
+    char *delimiter = ",";
+    char *pEnd;
+    long value,desim;
+    int mode;
+
+	#ifdef NMEA_DEBUG_GSA
+		PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART,"$%s\r\n",packet);
+	#endif
+
+	// start parsing just after "GPGSA,"
+	// attempt to reject empty packets right away
+	if(packet[6]==',' && packet[7]==',')
+		return;
+
+	if(!nmeaChecksum(packet))
+	{
+		// checksum not valid
+		return;
+	}
+	PositionActualGet(&GpsData);
+	// tokenizer for nmea sentence
+
+	//GPGSA header
+	tokens = strsep(&packet, delimiter);
+
+    // next field: Mode
+ 	// Mode: M=Manual, forced to operate in 2D or 3D, A=Automatic, 3D/2D
+	tokens = strsep(&packet, delimiter);
+    // next field: Mode
+    // Mode: 1=Fix not available, 2=2D, 3=3D
+	tokens = strsep(&packet, delimiter);
+	mode = atoi(tokens);
+	if (mode == 1)
+	{
+		GpsData.Status = POSITIONACTUAL_STATUS_NOFIX;
+	}
+	else if (mode == 2)
+	{
+		GpsData.Status = POSITIONACTUAL_STATUS_FIX2D;
+	}
+	else if (mode == 3)
+	{
+		GpsData.Status = POSITIONACTUAL_STATUS_FIX3D;
+	}
+
+    // next field: 3-14 IDs of SVs used in position fix (null for unused fields)
+	tokens = strsep(&packet, delimiter);
+	tokens = strsep(&packet, delimiter);
+	tokens = strsep(&packet, delimiter);
+	tokens = strsep(&packet, delimiter);
+	tokens = strsep(&packet, delimiter);
+	tokens = strsep(&packet, delimiter);
+	tokens = strsep(&packet, delimiter);
+	tokens = strsep(&packet, delimiter);
+	tokens = strsep(&packet, delimiter);
+	tokens = strsep(&packet, delimiter);
+	tokens = strsep(&packet, delimiter);
+	tokens = strsep(&packet, delimiter);
+
+	// next field: PDOP
+	tokens = strsep(&packet, delimiter);
+	value=strtol (tokens,&pEnd,10);
+	desim=strtol (pEnd+1,NULL,10);
+	GpsData.PDOP=value+desim/100.0;
+	// next field: HDOP
+	tokens = strsep(&packet, delimiter);
+	value=strtol (tokens,&pEnd,10);
+	desim=strtol (pEnd+1,NULL,10);
+	GpsData.HDOP=value+desim/100.0;
+	// next field: VDOP
+	tokens = strsep(&packet, delimiter);
+	value=strtol (tokens,&pEnd,10);
+	desim=strtol (pEnd+1,NULL,10);
+	GpsData.VDOP=value+desim/100.0;
+	// next field: checksum
+	PositionActualSet(&GpsData);
+
+}
+
+

flight/OpenPilot.posix/Modules/GPS/buffer.c

@@ -0,0 +1,139 @@
+/**
+ ******************************************************************************
+ *
+ * @file       buffer.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      see below
+ * 	       As with all modules only the initialize function is exposed all other
+ * 	       interactions with the module take place through the event queue and
+ *             objects.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+/*! \file buffer.c \brief Multipurpose byte buffer structure and methods. */
+//*****************************************************************************
+//
+// File Name	: 'buffer.c'
+// Title		: Multipurpose byte buffer structure and methods
+// Author		: Pascal Stang - Copyright (C) 2001-2002
+// Created		: 9/23/2001
+// Revised		: 9/23/2001
+// Version		: 1.0
+// Target MCU	: any
+// Editor Tabs	: 4
+//
+// This code is distributed under the GNU Public License
+//		which can be found at http://www.gnu.org/licenses/gpl.txt
+//
+//*****************************************************************************
+
+#include "buffer.h"
+
+// global variables
+
+// initialization
+
+void bufferInit(cBuffer* buffer, unsigned char *start, unsigned short size)
+{
+	// set start pointer of the buffer
+	buffer->dataptr = start;
+	buffer->size = size;
+	// initialize index and length
+	buffer->dataindex = 0;
+	buffer->datalength = 0;
+}
+
+// access routines
+unsigned char  bufferGetFromFront(cBuffer* buffer)
+{
+	unsigned char data = 0;
+
+	// check to see if there's data in the buffer
+	if(buffer->datalength)
+	{
+		// get the first character from buffer
+		data = buffer->dataptr[buffer->dataindex];
+		// move index down and decrement length
+		buffer->dataindex++;
+		if(buffer->dataindex >= buffer->size)
+		{
+			buffer->dataindex %= buffer->size;
+		}
+		buffer->datalength--;
+	}
+	// return
+	return data;
+}
+
+void bufferDumpFromFront(cBuffer* buffer, unsigned short numbytes)
+{
+	// dump numbytes from the front of the buffer
+	// are we dumping less than the entire buffer?
+	if(numbytes < buffer->datalength)
+	{
+		// move index down by numbytes and decrement length by numbytes
+		buffer->dataindex += numbytes;
+		if(buffer->dataindex >= buffer->size)
+		{
+			buffer->dataindex %= buffer->size;
+		}
+		buffer->datalength -= numbytes;
+	}
+	else
+	{
+		// flush the whole buffer
+		buffer->datalength = 0;
+	}
+}
+
+unsigned char bufferGetAtIndex(cBuffer* buffer, unsigned short index)
+{
+	// return character at index in buffer
+	return buffer->dataptr[(buffer->dataindex+index)%(buffer->size)];
+}
+
+unsigned char bufferAddToEnd(cBuffer* buffer, unsigned char data)
+{
+	// make sure the buffer has room
+	if(buffer->datalength < buffer->size)
+	{
+		// save data byte at end of buffer
+		buffer->dataptr[(buffer->dataindex + buffer->datalength) % buffer->size] = data;
+		// increment the length
+		buffer->datalength++;
+		// return success
+		return -1;
+	}
+	else return 0;
+}
+
+unsigned char bufferIsNotFull(cBuffer* buffer)
+{
+	// check to see if the buffer has room
+	// return true if there is room
+	return (buffer->datalength < buffer->size);
+}
+
+void bufferFlush(cBuffer* buffer)
+{
+	// flush contents of the buffer
+	buffer->datalength = 0;
+}
+

flight/OpenPilot.posix/Modules/GPS/inc/GPS.h

@@ -0,0 +1,34 @@
+/**
+ ******************************************************************************
+ *
+ * @file       GPS.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Include file of the GPS module.
+ * 	       As with all modules only the initialize function is exposed all other
+ * 	       interactions with the module take place through the event queue and
+ *             objects.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef GPS_H
+#define GPS_H
+
+int32_t GPSInitialize(void);
+
+#endif // GPS_H

flight/OpenPilot.posix/Modules/GPS/inc/buffer.h

@@ -0,0 +1,87 @@
+/**
+ ******************************************************************************
+ *
+ * @file       buffer.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      see below
+ * 	       As with all modules only the initialize function is exposed all other
+ * 	       interactions with the module take place through the event queue and
+ *             objects.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+
+/*! \file buffer.h \brief Multipurpose byte buffer structure and methods. */
+//*****************************************************************************
+//
+// File Name	: 'buffer.h'
+// Title		: Multipurpose byte buffer structure and methods
+// Author		: Pascal Stang - Copyright (C) 2001-2002
+// Created		: 9/23/2001
+// Revised		: 11/16/2002
+// Version		: 1.1
+// Target MCU	: any
+// Editor Tabs	: 4
+//
+///	\ingroup general
+/// \defgroup buffer Circular Byte-Buffer Structure and Function Library (buffer.c)
+/// \code #include "buffer.h" \endcode
+/// \par Overview
+///		This byte-buffer structure provides an easy and efficient way to store
+///		and process a stream of bytes.  You can create as many buffers as you
+///		like (within memory limits), and then use this common set of functions to
+///		access each buffer.  The buffers are designed for FIFO operation (first
+///		in, first out).  This means that the first byte you put in the buffer
+///		will be the first one you get when you read out the buffer.  Supported
+///		functions include buffer initialize, get byte from front of buffer, add
+///		byte to end of buffer, check if buffer is full, and flush buffer.  The
+///		buffer uses a circular design so no copying of data is ever necessary.
+///		This buffer is not dynamically allocated, it has a user-defined fixed
+///		maximum size.  This buffer is used in many places in the avrlib code.
+//
+// This code is distributed under the GNU Public License
+//		which can be found at http://www.gnu.org/licenses/gpl.txt
+//
+//*****************************************************************************
+//@{
+
+#ifndef BUFFER_H
+#define BUFFER_H
+
+// structure/typdefs
+
+//! cBuffer structure
+typedef struct struct_cBuffer
+{
+	unsigned char *dataptr;			///< the physical memory address where the buffer is stored
+	unsigned short size;			///< the allocated size of the buffer
+	unsigned short datalength;		///< the length of the data currently in the buffer
+	unsigned short dataindex;		///< the index into the buffer where the data starts
+} cBuffer;
+
+// function prototypes
+
+//! initialize a buffer to start at a given address and have given size
+void			bufferInit(cBuffer* buffer, unsigned char *start, unsigned short size);
+
+//! get the first byte from the front of the buffer
+unsigned char	bufferGetFromFront(cBuffer* buffer);
+
+//! dump (discard) the first numbytes from the front of the buffer
+void bufferDumpFromFront(cBuffer* buffer, unsigned short numbytes);
+
+//! get a byte at the specified index in the buffer (kind of like array access)
+// ** note: this does not remove the byte that was read from the buffer
+unsigned char	bufferGetAtIndex(cBuffer* buffer, unsigned short index);
+
+//! add a byte to the end of the buffer
+unsigned char	bufferAddToEnd(cBuffer* buffer, unsigned char data);
+
+//! check if the buffer is full/not full (returns non-zero value if not full)
+unsigned char	bufferIsNotFull(cBuffer* buffer);
+
+//! flush (clear) the contents of the buffer
+void			bufferFlush(cBuffer* buffer);
+
+#endif
+//@}

flight/OpenPilot.posix/Modules/MK/MKSerial/MKSerial.c

@@ -0,0 +1,616 @@
+/**
+ ******************************************************************************
+ *
+ * @file       MKSerial.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Interfacing with MK via serial port
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+#include "MkSerial.h"
+
+#include "attitudeactual.h" // object that will be updated by the module
+#include "positionactual.h"
+#include "flightbatterystate.h"
+
+
+
+//
+// Configuration
+//
+#define PORT			PIOS_COM_AUX
+#define DEBUG_PORT		PIOS_COM_GPS
+#define STACK_SIZE		1024
+#define TASK_PRIORITY	(tskIDLE_PRIORITY + 3)
+#define MAX_NB_PARS 	100
+//#define ENABLE_DEBUG_MSG
+//#define GENERATE_BATTERY_INFO		// The MK can report battery voltage, but normally the current sensor will be used, so this module should not report battery state
+
+#if PORT == PIOS_COM_AUX
+	#ifndef PIOS_ENABLE_AUX_UART
+		#error "This module cannot be included without the AUX UART enabled"
+	#endif
+#endif
+//
+// Private constants
+//
+#define MSGCMD_ANY				0
+#define MSGCMD_GET_DEBUG		'd'
+#define MSGCMD_DEBUG			'D'
+#define MSGCMD_GET_VERSION		'v'
+#define MSGCMD_VERSION			'V'
+#define MSGCMD_GET_OSD			'o'
+#define MSGCMD_OSD				'O'
+
+
+#define DEBUG_MSG_NICK_IDX	(2+2*2)
+#define DEBUG_MSG_ROLL_IDX	(2+3*2)
+
+#define OSD_MSG_CURRPOS_IDX		1
+#define OSD_MSG_NB_SATS_IDX 	50
+#define OSD_MSG_BATT_IDX		57
+#define OSD_MSG_COMPHEADING_IDX	62
+#define OSD_MSG_NICK_IDX		64
+#define OSD_MSG_ROLL_IDX		65
+
+#ifdef ENABLE_DEBUG_MSG
+	#define DEBUG_MSG(format, ...) PIOS_COM_SendFormattedString(DEBUG_PORT, format, ## __VA_ARGS__)
+#else
+	#define DEBUG_MSG(format, ...)
+#endif
+
+
+//
+// Private types
+//
+typedef struct
+{
+	uint8_t address;
+	uint8_t cmd;
+	uint8_t nbPars;
+	uint8_t pars[MAX_NB_PARS];
+} MkMsg_t;
+
+typedef struct
+{
+  float longitute;
+  float latitude;
+  float altitude;
+  uint8_t status;
+} GpsPosition_t;
+
+enum
+{
+	MK_ADDR_ALL = 0,
+	MK_ADDR_FC = 1,
+	MK_ADDR_NC = 2,
+	MK_ADDR_MAG = 3,
+};
+
+//
+// Private variables
+//
+
+//
+// Private functions
+//
+static void OnError(int line);
+//static void PrintMsg(const MkMsg_t* msg);
+static int16_t Par2Int16(const MkMsg_t* msg, uint8_t index);
+static int32_t Par2Int32(const MkMsg_t* msg, uint8_t index);
+static int8_t Par2Int8(const MkMsg_t* msg, uint8_t index);
+static void GetGpsPos(const MkMsg_t* msg, uint8_t index, GpsPosition_t* pos);
+static uint8_t WaitForBytes(uint8_t* buf, uint8_t nbBytes, portTickType xTicksToWait);
+static bool WaitForMsg(uint8_t cmd, MkMsg_t* msg, portTickType xTicksToWait);
+static void SendMsg(const MkMsg_t* msg);
+static void SendMsgParNone(uint8_t address, uint8_t cmd);
+static void SendMsgPar8(uint8_t address, uint8_t cmd, uint8_t par0);
+static void MkSerialTask(void* parameters);
+
+
+
+
+static void OnError(int line)
+{
+	DEBUG_MSG("MKProcol error %d\n\r", line);
+}
+
+
+#if 0
+static void PrintMsg(const MkMsg_t* msg)
+{
+	switch (msg->address)
+	{
+	case MK_ADDR_ALL:
+		DEBUG_MSG("ALL ");
+		break;
+	case MK_ADDR_FC:
+		DEBUG_MSG("FC  ");
+		break;
+	case MK_ADDR_NC:
+		DEBUG_MSG("NC  ");
+		break;
+	case MK_ADDR_MAG:
+		DEBUG_MSG("MAG ");
+		break;
+	default:
+		DEBUG_MSG("??? ");
+		break;
+	}
+
+	DEBUG_MSG("%c ", msg->cmd);
+
+	for (int i = 0; i < msg->nbPars; i++)
+	{
+		DEBUG_MSG("%02x ", msg->pars[i]);
+	}
+	DEBUG_MSG("\n\r");
+}
+#endif
+
+static int16_t Par2Int16(const MkMsg_t* msg, uint8_t index)
+{
+	int16_t res;
+
+	res = (int) (msg->pars[index + 1]) * 256 + msg->pars[index];
+	if (res > 0xFFFF / 2)
+		res -= 0xFFFF;
+	return res;
+}
+
+static int32_t Par2Int32(const MkMsg_t* msg, uint8_t index)
+{
+	uint32_t val = 0;
+
+	val = (((int)msg->pars[index])<<0)+(((int)msg->pars[index+1])<<8);
+	val += (((int)msg->pars[index+2])<<16)+((int)msg->pars[index+3]<<24);
+	if (val > 0xFFFFFFFF/2)
+		val -= 0xFFFFFFFF;
+	return (int32_t)val;
+}
+
+static int8_t Par2Int8(const MkMsg_t* msg, uint8_t index)
+{
+	if (msg->pars[index] > 127)
+		return msg->pars[index]-256;
+	else
+		return msg->pars[index];
+}
+
+static void GetGpsPos(const MkMsg_t* msg, uint8_t index, GpsPosition_t* pos)
+{
+  pos->longitute = (float)Par2Int32(msg, index) * (float)1e-7;
+  pos->latitude = (float)Par2Int32(msg, index+4) * (float)1e-7;
+  pos->altitude = (float)Par2Int32(msg, index+8) * (float)1e-3 ;
+  pos->status = msg->pars[index+12];
+}
+
+
+static uint8_t WaitForBytes(uint8_t* buf, uint8_t nbBytes, portTickType xTicksToWait)
+{
+	uint8_t nbBytesLeft = nbBytes;
+	xTimeOutType xTimeOut;
+
+	vTaskSetTimeOutState(&xTimeOut);
+
+	// Loop until
+	// - all bytes are received
+	// - \r is seen
+	// - Timeout occurs
+	do
+	{
+		// Check if timeout occured
+		if (xTaskCheckForTimeOut(&xTimeOut, &xTicksToWait))
+			break;
+
+		// Check if there are some bytes
+		if (PIOS_COM_ReceiveBufferUsed(PORT))
+		{
+			*buf = PIOS_COM_ReceiveBuffer(PORT);
+
+			nbBytesLeft--;
+			if (buf[0] == '\r')
+				break;
+			buf++;
+		}
+		else
+		{
+			// Avoid tight loop
+			// FIXME: should be blocking
+			vTaskDelay(5);
+		}
+	} while (nbBytesLeft);
+
+	return nbBytes - nbBytesLeft;
+}
+
+static bool WaitForMsg(uint8_t cmd, MkMsg_t* msg, portTickType xTicksToWait)
+{
+	uint8_t buf[10];
+	uint8_t n;
+	bool done = FALSE;
+	bool error = FALSE;
+	unsigned int checkVal;
+	xTimeOutType xTimeOut;
+
+
+	vTaskSetTimeOutState(&xTimeOut);
+
+	while (!done && !error)
+	{
+		// When we are here, it means we did not encounter the message we are waiting for
+		// Check if we did not timeout yet.
+
+
+		// Wait for start
+		buf[0] = 0;
+		do
+		{
+			if (xTaskCheckForTimeOut(&xTimeOut, &xTicksToWait))
+			{
+				return FALSE;
+			}
+			WaitForBytes(buf, 1, 100 / portTICK_RATE_MS);
+		} while (buf[0] != '#');
+
+		// Wait for cmd and address
+		if (WaitForBytes(buf, 2, 10 / portTICK_RATE_MS) != 2)
+		{
+			OnError(__LINE__);
+			continue;
+		}
+
+		// Is this the command we are waiting for?
+		if (cmd == 0 || cmd == buf[1])
+		{
+			// OK follow this message to the end
+			msg->address = buf[0] - 'a';
+			msg->cmd = buf[1];
+
+			checkVal = '#' + buf[0] + buf[1];
+
+			// Parse parameters
+			msg->nbPars = 0;
+			while (!done && !error)
+			{
+				n = WaitForBytes(buf, 4, 10 / portTICK_RATE_MS);
+				if (n > 0 && buf[n - 1] == '\r')
+				{
+					n--;
+					// This is the end of the message
+					// Get check bytes
+					if (n >= 2)
+					{
+						unsigned int msgCeckVal;
+						msgCeckVal = (buf[n-1]-'=') + (buf[n-2]-'=')*64;
+						//printf("%x %x\n", msgCeckVal, checkVal&0xFFF);
+						n -= 2;
+
+						if (msgCeckVal == (checkVal & 0xFFF))
+						{
+							done = TRUE;
+						}
+						else
+						{
+							OnError(__LINE__);
+							error = TRUE;
+						}
+					}
+					else
+					{
+						OnError(__LINE__);
+						error = TRUE;
+					}
+				}
+				else if (n == 4)
+				{
+					// Parse parameters
+					int i;
+					for (i = 0; i < 4; i++)
+					{
+						checkVal += buf[i];
+						buf[i] -= '=';
+					}
+					if (msg->nbPars < MAX_NB_PARS)
+					{
+						msg->pars[msg->nbPars] = (((buf[0]<<2)&0xFF) | ((buf[1] >> 4)));
+						msg->nbPars++;
+					}
+					if (msg->nbPars < MAX_NB_PARS)
+					{
+						msg->pars[msg->nbPars] = ((buf[1] & 0x0F)<< 4 | (buf[2] >> 2));
+						msg->nbPars++;
+					}
+					if (msg->nbPars < MAX_NB_PARS)
+					{
+						msg->pars[msg->nbPars] = ((buf[2] & 0x03)<< 6 | buf[3]);
+						msg->nbPars++;
+					}
+				}
+				else
+				{
+					OnError(__LINE__);
+					error = TRUE;
+				}
+			}
+		}
+	}
+
+	return (done && !error);
+}
+
+static void SendMsg(const MkMsg_t* msg)
+{
+	uint8_t buf[10];
+	uint16_t checkVal;
+	uint8_t nbParsRemaining;
+	const uint8_t* pPar;
+
+	// Header
+	buf[0] = '#';
+	buf[1] = msg->address + 'a';
+	buf[2] = msg->cmd;
+	PIOS_COM_SendBuffer(PORT, buf, 3);
+	checkVal = (unsigned int) '#' + buf[1] + buf[2];
+
+	// Parameters
+	nbParsRemaining = msg->nbPars;
+	pPar = msg->pars;
+	while (nbParsRemaining)
+	{
+		uint8_t a, b, c;
+
+		a = *pPar;
+		b = 0;
+		c = 0;
+
+		nbParsRemaining--;
+		pPar++;
+		if (nbParsRemaining)
+		{
+			b = *pPar;
+			nbParsRemaining--;
+			pPar++;
+			if (nbParsRemaining)
+			{
+				c = *pPar;
+				nbParsRemaining--;
+				pPar++;
+			}
+		}
+
+		buf[0] = (a >> 2) + '=';
+		buf[1] = (((a & 0x03) << 4) | ((b & 0xf0) >> 4)) + '=';
+		buf[2] = (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)) + '=';
+		buf[3] = (c & 0x3f) + '=';
+		checkVal += buf[0];
+		checkVal += buf[1];
+		checkVal += buf[2];
+		checkVal += buf[3];
+
+		PIOS_COM_SendBuffer(PORT, buf, 4);
+	}
+
+	checkVal &= 0xFFF;
+	buf[0] = (checkVal / 64) + '=';
+	buf[1] = (checkVal % 64) + '=';
+	buf[2] = '\r';
+	PIOS_COM_SendBuffer(PORT, buf, 3);
+}
+
+static void SendMsgParNone(uint8_t address, uint8_t cmd)
+{
+	MkMsg_t msg;
+
+	msg.address = address;
+	msg.cmd = cmd;
+	msg.nbPars = 0;
+
+	SendMsg(&msg);
+}
+
+static void SendMsgPar8(uint8_t address, uint8_t cmd, uint8_t par0)
+{
+	MkMsg_t msg;
+
+	msg.address = address;
+	msg.cmd = cmd;
+	msg.nbPars = 1;
+	msg.pars[0] = par0;
+
+	SendMsg(&msg);
+}
+
+
+static uint16_t VersionMsg_GetVersion(const MkMsg_t* msg)
+{
+	return msg->pars[0] * 100 + msg->pars[1];
+}
+
+
+static void DoConnectedToFC(void)
+{
+	AttitudeActualData attitudeData;
+	MkMsg_t msg;
+
+	DEBUG_MSG("FC\n\r");
+
+	memset(&attitudeData, 0, sizeof(attitudeData));
+
+	// Configure FC for fast reporting of the debug-message
+	SendMsgPar8(MK_ADDR_ALL, MSGCMD_GET_DEBUG, 10);
+
+	while (TRUE)
+	{
+		if (WaitForMsg(MSGCMD_DEBUG, &msg, 500 / portTICK_RATE_MS))
+		{
+			int16_t nick;
+			int16_t roll;
+
+			//PrintMsg(&msg);
+			nick = Par2Int16(&msg, DEBUG_MSG_NICK_IDX);
+			roll = Par2Int16(&msg, DEBUG_MSG_ROLL_IDX);
+
+			DEBUG_MSG("Att: Nick=%5d Roll=%5d\n\r", nick, roll);
+
+			attitudeData.seq++;
+			attitudeData.Pitch = -(float)nick/10;
+			attitudeData.Roll = -(float)roll/10;
+			AttitudeActualSet(&attitudeData);
+		}
+		else
+		{
+			DEBUG_MSG("TO\n\r");
+			break;
+		}
+	}
+}
+
+static void DoConnectedToNC(void)
+{
+	MkMsg_t msg;
+	GpsPosition_t pos;
+	AttitudeActualData attitudeData;
+	PositionActualData positionData;
+	FlightBatteryStateData flightBatteryData;
+#ifdef GENERATE_BATTERY_INFO
+	uint8_t battStateCnt=0;
+#endif
+
+	DEBUG_MSG("NC\n\r");
+
+	memset(&attitudeData, 0, sizeof(attitudeData));
+	memset(&positionData, 0, sizeof(positionData));
+	memset(&flightBatteryData, 0, sizeof(flightBatteryData));
+
+	// Configure NC for fast reporting of the osd-message
+	SendMsgPar8(MK_ADDR_ALL, MSGCMD_GET_OSD, 10);
+
+	while (TRUE)
+	{
+		if (WaitForMsg(MSGCMD_OSD, &msg, 500 / portTICK_RATE_MS))
+		{
+			//PrintMsg(&msg);
+			GetGpsPos(&msg, OSD_MSG_CURRPOS_IDX, &pos);
+
+#if 0
+			DEBUG_MSG("Bat=%d\n\r", msg.pars[OSD_MSG_BATT_IDX]);
+			DEBUG_MSG("Nick=%d Roll=%d\n\r", Par2Int8(&msg,OSD_MSG_NICK_IDX), Par2Int8(&msg,OSD_MSG_ROLL_IDX));
+			DEBUG_MSG("POS #Sats=%d stat=%d lat=%d lon=%d alt=%d\n\r", msg.pars[OSD_MSG_NB_SATS_IDX], pos.status, (int)pos.latitude, (int)pos.longitute, (int)pos.altitude);
+#else
+			DEBUG_MSG(".");
+#endif
+			attitudeData.seq++;
+			attitudeData.Pitch = -Par2Int8(&msg, OSD_MSG_NICK_IDX);
+			attitudeData.Roll = -Par2Int8(&msg, OSD_MSG_ROLL_IDX);
+			AttitudeActualSet(&attitudeData);
+
+			positionData.Longitude = pos.longitute;
+			positionData.Latitude = pos.latitude;
+			positionData.Altitude = pos.altitude;
+			positionData.Satellites = msg.pars[OSD_MSG_NB_SATS_IDX];
+			positionData.Heading = Par2Int16(&msg, OSD_MSG_COMPHEADING_IDX);
+			if (positionData.Satellites<5)
+			{
+				positionData.Status = POSITIONACTUAL_STATUS_NOFIX;
+			}
+			else
+			{
+				positionData.Status = POSITIONACTUAL_STATUS_FIX3D;
+			}
+			PositionActualSet(&positionData);
+
+#if GENERATE_BATTERY_INFO
+			if (++battStateCnt > 2)
+			{
+				flightBatteryData.Voltage = (float)msg.pars[OSD_MSG_BATT_IDX]/10;
+				FlightBatteryStateSet(&flightBatteryData);
+				battStateCnt = 0;
+			}
+#endif
+		}
+		else
+		{
+			DEBUG_MSG("TO\n\r");
+			break;
+		}
+	}
+}
+
+
+static void MkSerialTask(void* parameters)
+{
+	MkMsg_t msg;
+	uint32_t version;
+	bool connectionOk = FALSE;
+
+	PIOS_COM_ChangeBaud(PORT, 57600);
+	PIOS_COM_ChangeBaud(DEBUG_PORT, 57600);
+
+	DEBUG_MSG("MKSerial Started\n\r");
+
+	while (1)
+	{
+		// Wait until we get version from MK
+		while (!connectionOk)
+		{
+			SendMsgParNone(MK_ADDR_ALL, MSGCMD_GET_VERSION);
+			DEBUG_MSG("Version... ");
+			if (WaitForMsg(MSGCMD_VERSION, &msg, 250 / portTICK_RATE_MS))
+			{
+				version = VersionMsg_GetVersion(&msg);
+				DEBUG_MSG("%d\n\r", version);
+				connectionOk = TRUE;
+			}
+			else
+			{
+				DEBUG_MSG("TO\n\r");
+			}
+		}
+
+		// Dependent on version, decide it we are connected to NC or FC
+		if (version < 60)
+		{
+			DoConnectedToNC();	// Will only return after an error
+		}
+		else
+		{
+			DoConnectedToFC();	// Will only return after an error
+		}
+
+		connectionOk = FALSE;
+
+		vTaskDelay(250 / portTICK_RATE_MS);
+	}
+}
+
+
+/**
+ * Initialise the module
+ * \return -1 if initialisation failed
+ * \return 0 on success
+ */
+int32_t MKSerialInitialize(void)
+{
+	// Start gps task
+	xTaskCreate(MkSerialTask, (signed char*) "MkSerial", STACK_SIZE, NULL, TASK_PRIORITY, NULL);
+
+	return 0;
+}

flight/OpenPilot.posix/Modules/MK/MKSerial/inc/MkSerial.h

@@ -0,0 +1,34 @@
+/**
+ ******************************************************************************
+ *
+ * @file       GPS.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Include file of the GPS module.
+ * 	       As with all modules only the initialize function is exposed all other
+ * 	       interactions with the module take place through the event queue and
+ *             objects.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef MK_SERIAL_H
+#define MK_SERIAL_H
+
+int32_t MKSerialInitialize(void);
+
+#endif // MK_SER_INPUT_H

flight/OpenPilot.posix/Modules/ManualControl/inc/manualcontrol.h

@@ -0,0 +1,31 @@
+/**
+ ******************************************************************************
+ *
+ * @file       manualcontrol.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      ManualControl module. Handles safety R/C link and flight mode.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef MANUALCONTROL_H
+#define MANUALCONTROL_H
+
+int32_t ManualControlInitialize();
+
+#endif // MANUALCONTROL_H

flight/OpenPilot.posix/Modules/ManualControl/manualcontrol.c

@@ -0,0 +1,227 @@
+/**
+ ******************************************************************************
+ *
+ * @file       manualcontrol.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      ManualControl module. Handles safety R/C link and flight mode.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+#include "manualcontrol.h"
+#include "manualcontrolsettings.h"
+#include "stabilizationsettings.h"
+#include "manualcontrolcommand.h"
+#include "actuatordesired.h"
+#include "attitudedesired.h"
+
+// Private constants
+#define STACK_SIZE configMINIMAL_STACK_SIZE
+#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
+#define UPDATE_PERIOD_MS 20
+#define THROTTLE_FAILSAFE -0.1
+#define FLIGHT_MODE_LIMIT 1.0/3.0
+
+// Private types
+
+// Private variables
+static xTaskHandle taskHandle;
+
+// Private functions
+static void manualControlTask(void* parameters);
+static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral);
+
+/**
+ * Module initialization
+ */
+int32_t ManualControlInitialize()
+{
+	// Start main task
+	xTaskCreate(manualControlTask, (signed char*)"ManualControl", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
+
+	return 0;
+}
+
+/**
+ * Module task
+ */
+static void manualControlTask(void* parameters)
+{
+	ManualControlSettingsData settings;
+	StabilizationSettingsData stabSettings;
+	ManualControlCommandData cmd;
+	ActuatorDesiredData actuator;
+	AttitudeDesiredData attitude;
+	portTickType lastSysTime;
+	float flightMode;
+
+	// Main task loop
+	lastSysTime = xTaskGetTickCount();
+	while (1)
+	{
+		// Wait until next update
+		vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD_MS / portTICK_RATE_MS );
+
+		// Read settings
+		ManualControlSettingsGet(&settings);
+		StabilizationSettingsGet(&stabSettings);
+
+		// Check settings, if error raise alarm
+		if ( settings.Roll >= MANUALCONTROLSETTINGS_ROLL_NONE ||
+		     settings.Pitch >= MANUALCONTROLSETTINGS_PITCH_NONE ||
+		     settings.Yaw >= MANUALCONTROLSETTINGS_YAW_NONE ||
+		     settings.Throttle >= MANUALCONTROLSETTINGS_THROTTLE_NONE ||
+		     settings.FlightMode >= MANUALCONTROLSETTINGS_FLIGHTMODE_NONE )
+		{
+			AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
+			cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO;
+			cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
+			ManualControlCommandSet(&cmd);
+			continue;
+		}
+
+		// Read channel values in us
+		// TODO: settings.InputMode is currently ignored because PIOS will not allow runtime
+		// selection of PWM and PPM. The configuration is currently done at compile time in
+		// the pios_config.h file.
+		for (int n = 0; n < MANUALCONTROLCOMMAND_CHANNEL_NUMELEM; ++n)
+		{
+#if defined(PIOS_INCLUDE_PWM)
+			cmd.Channel[n] = PIOS_PWM_Get(n);
+#elif defined(PIOS_INCLUDE_PPM)
+			cmd.Channel[n] = PIOS_PPM_Get(n);
+#elif defined(PIOS_INCLUDE_SPEKTRUM)
+			cmd.Channel[n] = PIOS_SPEKTRUM_Get(n);
+#endif
+		}
+
+		// Calculate roll command in range +1 to -1
+		cmd.Roll = scaleChannel( cmd.Channel[settings.Roll], settings.ChannelMax[settings.Roll],
+				                 settings.ChannelMin[settings.Roll], settings.ChannelNeutral[settings.Roll] );
+
+		// Calculate pitch command in range +1 to -1
+		cmd.Pitch = scaleChannel( cmd.Channel[settings.Pitch], settings.ChannelMax[settings.Pitch],
+				                  settings.ChannelMin[settings.Pitch], settings.ChannelNeutral[settings.Pitch] );
+
+		// Calculate yaw command in range +1 to -1
+		cmd.Yaw = scaleChannel( cmd.Channel[settings.Yaw], settings.ChannelMax[settings.Yaw],
+				                  settings.ChannelMin[settings.Yaw], settings.ChannelNeutral[settings.Yaw] );
+
+		// Calculate throttle command in range +1 to -1
+		cmd.Throttle = scaleChannel( cmd.Channel[settings.Throttle], settings.ChannelMax[settings.Throttle],
+				                     settings.ChannelMin[settings.Throttle], settings.ChannelNeutral[settings.Throttle] );
+
+		// Update flight mode
+		flightMode = scaleChannel( cmd.Channel[settings.FlightMode], settings.ChannelMax[settings.FlightMode],
+				                   settings.ChannelMin[settings.FlightMode], settings.ChannelNeutral[settings.FlightMode] );
+		if (flightMode < -FLIGHT_MODE_LIMIT)
+		{
+			cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL;
+		}
+		else if (flightMode > FLIGHT_MODE_LIMIT)
+		{
+			cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO;
+		}
+		else
+		{
+			cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED;
+		}
+
+		// Check for connection status (negative throttle values)
+		// The receiver failsafe for the throttle channel should be set to a value below the channel NEUTRAL
+		if ( cmd.Throttle < THROTTLE_FAILSAFE )
+		{
+			cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
+			cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO;
+			AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
+		}
+		else
+		{
+			cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_TRUE;
+			AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL);
+			if ( cmd.Throttle < 0 )
+			{
+				cmd.Throttle = 0;
+			}
+		}
+
+		// Update the ManualControlCommand object
+		ManualControlCommandSet(&cmd);
+
+		// Depending on the mode update the Stabilization or Actuator objects
+		if ( cmd.FlightMode == MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL )
+		{
+			actuator.Roll = cmd.Roll;
+			actuator.Pitch = cmd.Pitch;
+			actuator.Yaw = cmd.Yaw;
+			actuator.Throttle = cmd.Throttle;
+			ActuatorDesiredSet(&actuator);
+		}
+		else if ( cmd.FlightMode == MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED )
+		{
+			attitude.Roll = cmd.Roll*stabSettings.RollMax;
+			attitude.Pitch = cmd.Pitch*stabSettings.PitchMax;
+			attitude.Yaw = cmd.Yaw*180.0;
+			attitude.Throttle = cmd.Throttle*stabSettings.ThrottleMax;
+			AttitudeDesiredSet(&attitude);
+		}
+	}
+}
+
+/**
+ * Convert channel from servo pulse duration (microseconds) to scaled -1/+1 range.
+ */
+static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral)
+{
+	float valueScaled;
+	// Scale
+	if ( (max > min && value >= neutral) || (min > max && value <= neutral) )
+	{
+		if ( max != neutral )
+		{
+			valueScaled = (float)(value-neutral)/(float)(max-neutral);
+		}
+		else
+		{
+			valueScaled = 0;
+		}
+	}
+	else
+	{
+		if ( min != neutral )
+		{
+			valueScaled = (float)(value-neutral)/(float)(neutral-min);
+		}
+		else
+		{
+			valueScaled = 0;
+		}
+	}
+	// Bound
+	if ( valueScaled > 1.0 )
+	{
+		valueScaled = 1.0;
+	}
+	else if ( valueScaled < -1.0 )
+	{
+		valueScaled = -1.0;
+	}
+	return valueScaled;
+}

flight/OpenPilot.posix/Modules/Osd/OsdEtStd/OsdEtStd.c

@@ -0,0 +1,907 @@
+/**
+ ******************************************************************************
+ *
+ * @file       MKSerial.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Interfacing with MK via serial port
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+
+#include "flightbatterystate.h"
+#include "positionactual.h"
+
+
+
+//
+// Configuration
+//
+#define DEBUG_PORT		PIOS_COM_TELEM_RF
+#define STACK_SIZE		1024
+#define TASK_PRIORITY	(tskIDLE_PRIORITY + 3)
+#define ENABLE_DEBUG_MSG
+//#define DUMP_CONFIG		// Enable this do read and dump the OSD config
+//#define WRITE_CONFIG		// Enable this do write and verify the OSD config
+//#define DO_PAR_SEEK		// Enable this to start a tool to find where parameters are encoded
+
+
+//
+// Private constants
+//
+
+#ifdef ENABLE_DEBUG_MSG
+	#define DEBUG_MSG(format, ...) PIOS_COM_SendFormattedString(DEBUG_PORT, format, ## __VA_ARGS__)
+#else
+	#define DEBUG_MSG(format, ...)
+#endif
+
+#define CONFIG_LENGTH 6726
+#define MIN(a,b) ((a)<(b)?(a):(b))
+
+#define OSDMSG_V_LS_IDX		10
+#define OSDMSG_A_LS_IDX		17
+#define OSDMSG_VA_MS_IDX	18
+#define OSDMSG_LAT_IDX		33
+#define OSDMSG_LON_IDX		37
+#define OSDMSG_HOME_IDX		47
+#define OSDMSG_ALT_IDX		49
+#define OSDMSG_NB_SATS		58
+#define OSDMSG_GPS_STAT		59
+
+#define OSDMSG_GPS_STAT_NOFIX	0x03
+#define OSDMSG_GPS_STAT_FIX		0x2B
+#define OSDMSG_GPS_STAT_HB_FLAG	0x10
+
+
+
+//
+// Private types
+//
+
+//
+// Private variables
+//
+
+//	                  | Header / cmd?|                                  | V  |                                  |  V |                                                                     | LAT: 37 57.0000   | LONG: 24 00.4590  |                             | Hom<-179| Alt 545.4 m       |                        |#sat|stat|
+//	                     00   01   02   03   04   05   06   07   08   09   10   11   12   13   14   15   16   17   18   19   20   21   22   23   24   25   26   27   28   29   30   31   32   33   34   35   36   37   38   39   40   41   42   43   44   45   46   47   48   49   50   51   52   53   54   55   56   57   58   59   60   61   62
+	uint8_t msg[63] = {0x03,0x3F,0x03,0x00,0x00,0x00,0x00,0x00,0x90,0x0A,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFC,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x09,0x60,0x10,0x02,0x00,0x00,0x90,0x00,0x54,0x54,0x00,0x00,0x33,0x28,0x13,0x00,0x00,0x08,0x00,0x00,0x90,0x0A};
+static volatile bool newPosData=FALSE;
+static volatile bool newBattData=FALSE;
+
+
+
+//
+// Private functions
+//
+static void WriteToMsg8(uint8_t index, uint8_t value)
+{
+	if (value>100)
+		value = 100;
+
+	msg[index] = ((value/10) << 4) + (value%10);
+}
+
+static void WriteToMsg16(uint8_t index, uint16_t value)
+{
+	WriteToMsg8(index, value % 100);
+	WriteToMsg8(index+1, value / 100);
+}
+
+static void WriteToMsg24(uint8_t index, uint32_t value)
+{
+	WriteToMsg16(index, value % 10000);
+	WriteToMsg8(index+2, value / 10000);
+}
+
+static void WriteToMsg32(uint8_t index, uint32_t value)
+{
+	WriteToMsg16(index, value % 10000);
+	WriteToMsg16(index+2, value / 10000);
+}
+
+static void SetCoord(uint8_t index, float coord)
+{
+	uint32_t deg = (uint32_t)coord;
+	float sec = (coord-deg)*60;
+
+	WriteToMsg24(index, sec*10000);
+	WriteToMsg8(index+3, deg);
+}
+
+static void SetCourse(uint16_t dir)
+{
+	WriteToMsg16(OSDMSG_HOME_IDX, dir);
+}
+
+static void SetAltitude(uint32_t altitudeMeter)
+{
+	WriteToMsg32(OSDMSG_ALT_IDX, altitudeMeter*10);
+}
+
+static void SetVoltage(uint32_t milliVolt)
+{
+	msg[OSDMSG_VA_MS_IDX] &= 0x0F;
+	msg[OSDMSG_VA_MS_IDX] |= (milliVolt / 6444)<<4;
+	msg[OSDMSG_V_LS_IDX] = (milliVolt % 6444)*256/6444;
+}
+
+static void SetCurrent(uint32_t milliAmp)
+{
+	uint32_t value = (milliAmp*16570/1000000) + 0x7FA;
+	msg[OSDMSG_VA_MS_IDX] &= 0xF0;
+	msg[OSDMSG_VA_MS_IDX] |= ((value >> 8) & 0x0F);
+	msg[OSDMSG_A_LS_IDX] = (value & 0xFF);
+}
+
+
+static void SetNbSats(uint8_t nb)
+{
+	msg[OSDMSG_NB_SATS] = nb;
+}
+
+static void FlightBatteryStateUpdatedCb(UAVObjEvent* ev)
+{
+	newBattData = TRUE;
+}
+
+static void PositionActualUpdatedCb(UAVObjEvent* ev)
+{
+	newPosData = TRUE;
+}
+
+#ifdef DUMP_CONFIG
+
+static bool Read(uint32_t start, uint8_t length, uint8_t* buffer)
+{
+	bool res = FALSE;
+
+	if (PIOS_I2C_LockDevice(5000 / portTICK_RATE_MS))
+	{
+		uint8_t cmd[5];
+
+		cmd[0] = 0x02;
+		cmd[1] = 0x05;
+		cmd[2] = (uint8_t)(start & 0xFF);
+		cmd[3] = (uint8_t)(start >> 8);
+		cmd[4] = length;
+
+		PIOS_I2C_Transfer(I2C_Write_WithoutStop, 0x30<<1, cmd, 0);
+
+		if (PIOS_I2C_Transfer(I2C_Write_WithoutStop, 0x30<<1, cmd, 5) == 0)
+		{
+			if (PIOS_I2C_Transfer(I2C_Read, 0x30<<1, buffer, length) == 0)
+			{
+				res = TRUE;
+			}
+		}
+		PIOS_I2C_UnlockDevice();
+	}
+
+	return res;
+}
+
+static void DumpConfig(void)
+{
+	uint8_t buf[0x78];
+	uint32_t addr=0;
+	uint32_t n=0x78;
+	uint8_t page;
+	bool ok;
+	uint32_t i;
+
+	while (addr<CONFIG_LENGTH)
+	{
+		n = MIN(CONFIG_LENGTH-addr, sizeof(buf));
+		ok = FALSE;
+		while (!ok)
+		{
+			if (Read(addr, n, buf))
+			{
+#if 0
+				for(uint32_t i=0; i<n; i++)
+					DEBUG_MSG("0x%02x, ", buf[i]);
+#else
+				page=(addr/0x78)+1;
+				DEBUG_MSG("\rstatic uint8_t addr%02d[] = { ",page);
+				DEBUG_MSG("0x01, 0x7d, 0x%02x, 0x%02x, 0x%02x, ",(uint8_t)(addr & 0xFF), (uint8_t)(addr >> 8), n);
+				for(i=0; i<(n-1); i++)
+						DEBUG_MSG("0x%02x, ", buf[i]);
+				DEBUG_MSG("0x%02x };",buf[i]);
+				vTaskDelay(500 / portTICK_RATE_MS);
+				//PIOS_COM_SendBuffer(DEBUG_PORT, buf, n);
+#endif
+				ok = TRUE;
+			}
+		}
+		DEBUG_MSG("\n\r");
+		addr += n;
+	}
+
+//	{
+//		FILEINFO file;
+//		uint32_t res;
+//
+//		res = DFS_OpenFile(&PIOS_SDCARD_VolInfo, (uint8_t*)"\\a.txt", DFS_READ, PIOS_SDCARD_Sector, &file);
+//		if (res == DFS_OK)
+//		{
+//			DFS_Close(&file);
+//		}
+//		DEBUG_MSG("ReadFile = 0x%x\n", res);
+//
+//		res = DFS_OpenFile(&PIOS_SDCARD_VolInfo, (uint8_t*)"\\ConfDump", DFS_WRITE, PIOS_SDCARD_Sector, &file);
+//		if (  res == DFS_OK )
+//		{
+//			uint32_t bytesWritten;
+//			DEBUG_MSG("File Open\n");
+//			res = DFS_WriteFile(&file, PIOS_SDCARD_Sector, buf, &bytesWritten, 10);
+//
+//			DEBUG_MSG("Write 0x%x\n", res);
+//			DFS_Close(&file);
+//		}
+//		else
+//		{
+//			DEBUG_MSG("Error Opening File %x\n", res);
+//		}
+//	}
+}
+#endif
+
+#ifdef WRITE_CONFIG
+static uint8_t addr01[] = { 0x01, 0x7d, 0x00, 0x00, 0x78, 0x31, 0x2e, 0x31, 0x35, 0x46, 0xb4, 0x00, 0x02, 0x03, 0x00, 0xff, 0xff, 0xff, 0xff, 0xee, 0x00, 0x00, 0x00, 0x0e, 0x00, 0xfb, 0x07, 0x00, 0x00, 0xff, 0xff, 0x00, 0x0a, 0x0a, 0x05, 0xff, 0xff, 0x0a, 0x0a, 0x00, 0x00, 0x07, 0x00, 0x0b, 0x00, 0x0d, 0x00, 0x0f, 0x00, 0x11, 0x00, 0x13, 0x00, 0x15, 0x00, 0x16, 0x00, 0x17, 0x00, 0x19, 0x00, 0x1a, 0x00, 0x1b, 0x00, 0x1c, 0x00, 0x1d, 0x00, 0x1e, 0x00, 0x1f, 0x00, 0x20, 0x00, 0x21, 0x00, 0x22, 0x00, 0x23, 0x00, 0x24, 0x00, 0x25, 0x00, 0x26, 0x00, 0x00, 0x00, 0x16, 0x00, 0x1f, 0x00, 0x27, 0x00, 0x2d, 0x00, 0x32, 0x00, 0x37, 0x00, 0x3b, 0x00, 0x3f, 0x00, 0x43, 0x00, 0x47, 0x00, 0x4a, 0x00, 0x4e, 0x00, 0x51, 0x00, 0x54, 0x00, 0x57, 0x00, 0x5a, 0x00, 0x5c, 0x00, 0x5f, 0x00 };
+static uint8_t addr02[] = { 0x01, 0x7d, 0x78, 0x00, 0x78, 0x62, 0x00, 0x64, 0x00, 0x67, 0x00, 0x69, 0x00, 0x6c, 0x00, 0x6e, 0x00, 0x70, 0x00, 0x72, 0x00, 0x75, 0x00, 0x77, 0x00, 0x79, 0x00, 0x7b, 0x00, 0x7d, 0x00, 0x7f, 0x00, 0x81, 0x00, 0x83, 0x00, 0x85, 0x00, 0x87, 0x00, 0x89, 0x00, 0x8a, 0x00, 0x8c, 0x00, 0x8e, 0x00, 0x90, 0x00, 0x92, 0x00, 0x93, 0x00, 0x95, 0x00, 0x97, 0x00, 0x98, 0x00, 0x9a, 0x00, 0x9c, 0x00, 0x9d, 0x00, 0x9f, 0x00, 0xa0, 0x00, 0xa2, 0x00, 0xa4, 0x00, 0xa5, 0x00, 0xa7, 0x00, 0xa8, 0x00, 0xaa, 0x00, 0xab, 0x00, 0xad, 0x00, 0xae, 0x00, 0xaf, 0x00, 0xb1, 0x00, 0xb2, 0x00, 0xb4, 0x00, 0xb5, 0x00, 0xb7, 0x00, 0xb8, 0x00, 0xb9, 0x00, 0xbb, 0x00, 0xbc, 0x00, 0xbd, 0x00, 0xbf, 0x00, 0xc0, 0x00, 0xc1, 0x00, 0xc3, 0x00, 0xc4, 0x00, 0xc5, 0x00, 0xc7, 0x00 };
+static uint8_t addr03[] = { 0x01, 0x7d, 0xf0, 0x00, 0x78, 0xc8, 0x00, 0xc9, 0x00, 0xca, 0x00, 0xcc, 0x00, 0xcd, 0x00, 0xce, 0x00, 0xcf, 0x00, 0xd0, 0x00, 0xd2, 0x00, 0xd3, 0x00, 0xd4, 0x00, 0xd5, 0x00, 0xd6, 0x00, 0xd8, 0x00, 0xd9, 0x00, 0xda, 0x00, 0xdb, 0x00, 0xdc, 0x00, 0xdd, 0x00, 0xdf, 0x00, 0xe0, 0x00, 0xe1, 0x00, 0xe2, 0x00, 0xe3, 0x00, 0xe4, 0x00, 0xe5, 0x00, 0xe6, 0x00, 0xe7, 0x00, 0xe9, 0x00, 0xea, 0x00, 0xeb, 0x00, 0xec, 0x00, 0xed, 0x00, 0xee, 0x00, 0xef, 0x00, 0xf0, 0x00, 0xf1, 0x00, 0xf2, 0x00, 0xf3, 0x00, 0xf4, 0x00, 0xf5, 0x00, 0xf6, 0x00, 0xf7, 0x00, 0xf8, 0x00, 0xf9, 0x00, 0xfa, 0x00, 0xfb, 0x00, 0xfc, 0x00, 0xfd, 0x00, 0xfe, 0x00, 0xff, 0x00, 0x00, 0x01, 0x01, 0x01, 0x02, 0x01, 0x03, 0x01, 0x04, 0x01, 0x05, 0x01, 0x06, 0x01, 0x07, 0x01, 0x08, 0x01 };
+static uint8_t addr04[] = { 0x01, 0x7d, 0x68, 0x01, 0x78, 0x09, 0x01, 0x0a, 0x01, 0x0b, 0x01, 0x0c, 0x01, 0x0d, 0x01, 0x0e, 0x01, 0x0f, 0x01, 0x10, 0x01, 0x11, 0x01, 0x12, 0x01, 0x13, 0x01, 0x13, 0x01, 0x14, 0x01, 0x15, 0x01, 0x16, 0x01, 0x17, 0x01, 0x18, 0x01, 0x19, 0x01, 0x1a, 0x01, 0x1b, 0x01, 0x1c, 0x01, 0x1d, 0x01, 0x1d, 0x01, 0x1e, 0x01, 0x1f, 0x01, 0x20, 0x01, 0x21, 0x01, 0x22, 0x01, 0x23, 0x01, 0x24, 0x01, 0x24, 0x01, 0x25, 0x01, 0x26, 0x01, 0x27, 0x01, 0x28, 0x01, 0x29, 0x01, 0x2a, 0x01, 0x2a, 0x01, 0x2b, 0x01, 0x2c, 0x01, 0x2d, 0x01, 0x2e, 0x01, 0x2f, 0x01, 0x2f, 0x01, 0x30, 0x01, 0x31, 0x01, 0x32, 0x01, 0x33, 0x01, 0x34, 0x01, 0x34, 0x01, 0x35, 0x01, 0x36, 0x01, 0x37, 0x01, 0x38, 0x01, 0x39, 0x01, 0x39, 0x01, 0x3a, 0x01, 0x3b, 0x01, 0x3c, 0x01, 0x3d, 0x01 };
+static uint8_t addr05[] = { 0x01, 0x7d, 0xe0, 0x01, 0x78, 0x3d, 0x01, 0x3e, 0x01, 0x3f, 0x01, 0x40, 0x01, 0x41, 0x01, 0x41, 0x01, 0x42, 0x01, 0x43, 0x01, 0x44, 0x01, 0x44, 0x01, 0x45, 0x01, 0x46, 0x01, 0x47, 0x01, 0x48, 0x01, 0x48, 0x01, 0x49, 0x01, 0x4a, 0x01, 0x4b, 0x01, 0x4b, 0x01, 0x4c, 0x01, 0x4d, 0x01, 0x4e, 0x01, 0x4e, 0x01, 0x4f, 0x01, 0x50, 0x01, 0x51, 0x01, 0x52, 0x01, 0x52, 0x01, 0x53, 0x01, 0x54, 0x01, 0x54, 0x01, 0x55, 0x01, 0x56, 0x01, 0x57, 0x01, 0x57, 0x01, 0x58, 0x01, 0x59, 0x01, 0x5a, 0x01, 0x5a, 0x01, 0x5b, 0x01, 0x5c, 0x01, 0x5d, 0x01, 0x5d, 0x01, 0x5e, 0x01, 0x5f, 0x01, 0x5f, 0x01, 0x60, 0x01, 0x61, 0x01, 0x62, 0x01, 0x62, 0x01, 0x63, 0x01, 0x64, 0x01, 0x64, 0x01, 0x65, 0x01, 0x66, 0x01, 0x67, 0x01, 0x67, 0x01, 0x30, 0x01, 0x31, 0x01, 0x31, 0x01 };
+static uint8_t addr06[] = { 0x01, 0x7d, 0x58, 0x02, 0x78, 0x33, 0x01, 0x33, 0x01, 0x33, 0x01, 0x34, 0x01, 0x34, 0x01, 0x34, 0x01, 0x36, 0x01, 0x36, 0x01, 0x38, 0x01, 0x38, 0x01, 0x38, 0x01, 0x39, 0x01, 0x39, 0x01, 0x39, 0x01, 0x3b, 0x01, 0x3b, 0x01, 0x3b, 0x01, 0x3d, 0x01, 0x3d, 0x01, 0x3d, 0x01, 0x3e, 0x01, 0x3e, 0x01, 0x40, 0x01, 0x40, 0x01, 0x40, 0x01, 0x41, 0x01, 0x41, 0x01, 0x41, 0x01, 0x43, 0x01, 0x43, 0x01, 0x43, 0x01, 0x45, 0x01, 0x45, 0x01, 0x45, 0x01, 0x46, 0x01, 0x46, 0x01, 0x46, 0x01, 0x48, 0x01, 0x48, 0x01, 0x48, 0x01, 0x49, 0x01, 0x49, 0x01, 0x4b, 0x01, 0x4b, 0x01, 0x4b, 0x01, 0x4d, 0x01, 0x4d, 0x01, 0x4d, 0x01, 0x4e, 0x01, 0x4e, 0x01, 0x4e, 0x01, 0x50, 0x01, 0x50, 0x01, 0x50, 0x01, 0x51, 0x01, 0x51, 0x01, 0x51, 0x01, 0x53, 0x01, 0x53, 0x01, 0x53, 0x01 };
+static uint8_t addr07[] = { 0x01, 0x7d, 0xd0, 0x02, 0x78, 0x55, 0x01, 0x55, 0x01, 0x55, 0x01, 0x56, 0x01, 0x56, 0x01, 0x56, 0x01, 0x58, 0x01, 0x58, 0x01, 0x58, 0x01, 0x5a, 0x01, 0x5a, 0x01, 0x5a, 0x01, 0x5b, 0x01, 0x5b, 0x01, 0x5b, 0x01, 0x5d, 0x01, 0x5d, 0x01, 0x5d, 0x01, 0x5d, 0x01, 0x5e, 0x01, 0x5e, 0x01, 0x5e, 0x01, 0x60, 0x01, 0x60, 0x01, 0x60, 0x01, 0x62, 0x01, 0x62, 0x01, 0x62, 0x01, 0x63, 0x01, 0x63, 0x01, 0x63, 0x01, 0x65, 0x01, 0x65, 0x01, 0x65, 0x01, 0x66, 0x01, 0x66, 0x01, 0x66, 0x01, 0x68, 0x01, 0x68, 0x01, 0x68, 0x01, 0x68, 0x01, 0x6a, 0x01, 0x6a, 0x01, 0x6a, 0x01, 0x6b, 0x01, 0x6b, 0x01, 0x6b, 0x01, 0x6d, 0x01, 0x6d, 0x01, 0x6d, 0x01, 0x6e, 0x01, 0x6e, 0x01, 0x6e, 0x01, 0x70, 0x01, 0x70, 0x01, 0x70, 0x01, 0x70, 0x01, 0x72, 0x01, 0x72, 0x01, 0x72, 0x01 };
+static uint8_t addr08[] = { 0x01, 0x7d, 0x48, 0x03, 0x78, 0x73, 0x01, 0x73, 0x01, 0x73, 0x01, 0x75, 0x01, 0x75, 0x01, 0x75, 0x01, 0x75, 0x01, 0x76, 0x01, 0x76, 0x01, 0x76, 0x01, 0x78, 0x01, 0x78, 0x01, 0x78, 0x01, 0x7a, 0x01, 0x7a, 0x01, 0x7a, 0x01, 0x7a, 0x01, 0x7b, 0x01, 0x7b, 0x01, 0x7b, 0x01, 0x7d, 0x01, 0x7d, 0x01, 0x7d, 0x01, 0x7f, 0x01, 0x7f, 0x01, 0x7f, 0x01, 0x7f, 0x01, 0x80, 0x01, 0x80, 0x01, 0x80, 0x01, 0x82, 0x01, 0x82, 0x01, 0x82, 0x01, 0x83, 0x01, 0x83, 0x01, 0x83, 0x01, 0x83, 0x01, 0x85, 0x01, 0x85, 0x01, 0x85, 0x01, 0x87, 0x01, 0x87, 0x01, 0x87, 0x01, 0x87, 0x01, 0x88, 0x01, 0x88, 0x01, 0x88, 0x01, 0x8a, 0x01, 0x8a, 0x01, 0x8a, 0x01, 0x8a, 0x01, 0x8b, 0x01, 0x8b, 0x01, 0x8b, 0x01, 0x8d, 0x01, 0x8d, 0x01, 0x8d, 0x01, 0x8d, 0x01, 0x8f, 0x01, 0x8f, 0x01 };
+static uint8_t addr09[] = { 0x01, 0x7d, 0xc0, 0x03, 0x78, 0x8f, 0x01, 0x90, 0x01, 0x90, 0x01, 0x90, 0x01, 0x90, 0x01, 0x92, 0x01, 0x92, 0x01, 0x92, 0x01, 0x93, 0x01, 0x93, 0x01, 0x93, 0x01, 0x93, 0x01, 0x95, 0x01, 0x95, 0x01, 0x95, 0x01, 0x97, 0x01, 0x97, 0x01, 0x97, 0x01, 0x97, 0x01, 0x98, 0x01, 0x98, 0x01, 0x98, 0x01, 0x98, 0x01, 0x9a, 0x01, 0x9a, 0x01, 0x9a, 0x01, 0x9b, 0x01, 0x9b, 0x01, 0x9b, 0x01, 0x9b, 0x01, 0x9d, 0x01, 0x9d, 0x01, 0x9d, 0x01, 0x9d, 0x01, 0x9f, 0x01, 0x9f, 0x01, 0x9f, 0x01, 0xa0, 0x01, 0xa0, 0x01, 0xa0, 0x01, 0xa0, 0x01, 0xa2, 0x01, 0xa2, 0x01, 0xa2, 0x01, 0xa2, 0x01, 0xa4, 0x01, 0xa4, 0x01, 0xa4, 0x01, 0xa5, 0x01, 0xa5, 0x01, 0xa5, 0x01, 0xa5, 0x01, 0xa7, 0x01, 0xa7, 0x01, 0xa7, 0x01, 0xa7, 0x01, 0xa8, 0x01, 0xa8, 0x01, 0xa8, 0x01, 0xa8, 0x01 };
+static uint8_t addr10[] = { 0x01, 0x7d, 0x38, 0x04, 0x78, 0xaa, 0x01, 0xaa, 0x01, 0xaa, 0x01, 0xac, 0x01, 0xac, 0x01, 0xac, 0x01, 0xac, 0x01, 0xad, 0x01, 0xad, 0x01, 0xad, 0x01, 0xad, 0x01, 0xaf, 0x01, 0xaf, 0x01, 0xaf, 0x01, 0xaf, 0x01, 0xb0, 0x01, 0xb0, 0x01, 0xb0, 0x01, 0xb0, 0x01, 0xb2, 0x01, 0xb2, 0x01, 0xb2, 0x01, 0xb4, 0x01, 0xb4, 0x01, 0xb4, 0x01, 0xb4, 0x01, 0xb5, 0x01, 0xb5, 0x01, 0xb5, 0x01, 0xb5, 0x01, 0xb7, 0x01, 0xb7, 0x01, 0xb7, 0x01, 0xb7, 0x01, 0xb8, 0x01, 0xb8, 0x01, 0xb8, 0x01, 0xb8, 0x01, 0xba, 0x01, 0xba, 0x01, 0xba, 0x01, 0xba, 0x01, 0xbc, 0x01, 0xbc, 0x01, 0xbc, 0x01, 0xbc, 0x01, 0xbd, 0x01, 0xbd, 0x01, 0xbd, 0x01, 0xbd, 0x01, 0xbf, 0x01, 0xbf, 0x01, 0xbf, 0x01, 0xbf, 0x01, 0xc1, 0x01, 0xc1, 0x01, 0xc1, 0x01, 0xc1, 0x01, 0xc2, 0x01, 0xc2, 0x01 };
+static uint8_t addr11[] = { 0x01, 0x7d, 0xb0, 0x04, 0x78, 0xc2, 0x01, 0xc2, 0x01, 0xc4, 0x01, 0xc4, 0x01, 0xc4, 0x01, 0xc4, 0x01, 0xc5, 0x01, 0xc5, 0x01, 0xc5, 0x01, 0xc5, 0x01, 0xc7, 0x01, 0xc7, 0x01, 0xc7, 0x01, 0xc7, 0x01, 0xc9, 0x01, 0xc9, 0x01, 0xc9, 0x01, 0xc9, 0x01, 0xca, 0x01, 0xca, 0x01, 0xca, 0x01, 0xca, 0x01, 0xcc, 0x01, 0xcc, 0x01, 0xcc, 0x01, 0xcc, 0x01, 0xcd, 0x01, 0xcd, 0x01, 0xcd, 0x01, 0xcd, 0x01, 0xcf, 0x01, 0xcf, 0x01, 0xcf, 0x01, 0xcf, 0x01, 0xd1, 0x01, 0xd1, 0x01, 0xd1, 0x01, 0xd1, 0x01, 0xd2, 0x01, 0xd2, 0x01, 0xd2, 0x01, 0xd2, 0x01, 0xd4, 0x01, 0xd4, 0x01, 0xd4, 0x01, 0xd4, 0x01, 0xd5, 0x01, 0xd5, 0x01, 0xd5, 0x01, 0xd5, 0x01, 0xd7, 0x01, 0xd7, 0x01, 0xd7, 0x01, 0xd7, 0x01, 0xd7, 0x01, 0xd9, 0x01, 0xd9, 0x01, 0xd9, 0x01, 0xd9, 0x01, 0xda, 0x01 };
+static uint8_t addr12[] = { 0x01, 0x7d, 0x28, 0x05, 0x78, 0xda, 0x01, 0xda, 0x01, 0xda, 0x01, 0xdc, 0x01, 0xdc, 0x01, 0xdc, 0x01, 0xdc, 0x01, 0xdd, 0x01, 0xdd, 0x01, 0xdd, 0x01, 0xdd, 0x01, 0xdf, 0x01, 0xdf, 0x01, 0xdf, 0x01, 0xdf, 0x01, 0xdf, 0x01, 0xe1, 0x01, 0xe1, 0x01, 0xe1, 0x01, 0xe1, 0x01, 0xe2, 0x01, 0xe2, 0x01, 0xe2, 0x01, 0xe2, 0x01, 0xe4, 0x01, 0xe4, 0x01, 0xe4, 0x01, 0xe4, 0x01, 0xe6, 0x01, 0xe6, 0x01, 0xe6, 0x01, 0xe6, 0x01, 0xe6, 0x01, 0xe7, 0x01, 0xe7, 0x01, 0xe7, 0x01, 0xe7, 0x01, 0xe9, 0x01, 0xe9, 0x01, 0xe9, 0x01, 0xe9, 0x01, 0xea, 0x01, 0xea, 0x01, 0xea, 0x01, 0xea, 0x01, 0xea, 0x01, 0xec, 0x01, 0xec, 0x01, 0xec, 0x01, 0xec, 0x01, 0xee, 0x01, 0xee, 0x01, 0xee, 0x01, 0xee, 0x01, 0xef, 0x01, 0xef, 0x01, 0xef, 0x01, 0xef, 0x01, 0xef, 0x01, 0xf1, 0x01 };
+static uint8_t addr13[] = { 0x01, 0x7d, 0xa0, 0x05, 0x78, 0xf1, 0x01, 0xf1, 0x01, 0xf1, 0x01, 0xf2, 0x01, 0xf2, 0x01, 0xf2, 0x01, 0xf2, 0x01, 0xf4, 0x01, 0xf4, 0x01, 0xf4, 0x01, 0xf4, 0x01, 0xf4, 0x01, 0xf6, 0x01, 0xf6, 0x01, 0xf6, 0x01, 0xf6, 0x01, 0xf7, 0x01, 0xf7, 0x01, 0xf7, 0x01, 0xf7, 0x01, 0xf7, 0x01, 0xf9, 0x01, 0xf9, 0x01, 0xf9, 0x01, 0xf9, 0x01, 0xfa, 0x01, 0xfa, 0x01, 0xfa, 0x01, 0xfa, 0x01, 0xfa, 0x01, 0xfc, 0x01, 0xfc, 0x01, 0xfc, 0x01, 0xfc, 0x01, 0xfe, 0x01, 0xfe, 0x01, 0xfe, 0x01, 0xfe, 0x01, 0xfe, 0x01, 0xff, 0x01, 0xff, 0x01, 0xff, 0x01, 0xff, 0x01, 0x01, 0x02, 0x01, 0x02, 0x01, 0x02, 0x01, 0x02, 0x01, 0x02, 0x02, 0x02, 0x02, 0x02, 0x02, 0x02, 0x02, 0x02, 0x04, 0x02, 0x04, 0x02, 0x04, 0x02, 0x04, 0x02, 0x04, 0x02, 0x06, 0x02, 0x06, 0x02, 0x06, 0x02 };
+static uint8_t addr14[] = { 0x01, 0x7d, 0x18, 0x06, 0x78, 0x06, 0x02, 0x07, 0x02, 0x07, 0x02, 0x07, 0x02, 0x07, 0x02, 0x07, 0x02, 0x09, 0x02, 0x09, 0x02, 0x09, 0x02, 0x09, 0x02, 0x09, 0x02, 0x0b, 0x02, 0x0b, 0x02, 0x0b, 0x02, 0x0b, 0x02, 0x0c, 0x02, 0x0c, 0x02, 0x0c, 0x02, 0x0c, 0x02, 0x0c, 0x02, 0x0e, 0x02, 0x0e, 0x02, 0x0e, 0x02, 0x0e, 0x02, 0x0e, 0x02, 0x0f, 0x02, 0x0f, 0x02, 0x0f, 0x02, 0x0f, 0x02, 0x11, 0x02, 0x11, 0x02, 0x11, 0x02, 0x11, 0x02, 0x11, 0x02, 0x13, 0x02, 0x13, 0x02, 0x13, 0x02, 0x13, 0x02, 0x13, 0x02, 0x14, 0x02, 0x14, 0x02, 0x14, 0x02, 0x14, 0x02, 0x16, 0x02, 0x16, 0x02, 0x16, 0x02, 0x16, 0x02, 0x16, 0x02, 0x17, 0x02, 0x17, 0x02, 0x17, 0x02, 0x17, 0x02, 0x17, 0x02, 0x19, 0x02, 0x19, 0x02, 0x19, 0x02, 0x19, 0x02, 0x1b, 0x02, 0x1b, 0x02, 0x1b, 0x02 };
+static uint8_t addr15[] = { 0x01, 0x7d, 0x90, 0x06, 0x78, 0x1b, 0x02, 0x1b, 0x02, 0x1c, 0x02, 0x1c, 0x02, 0x1c, 0x02, 0x1c, 0x02, 0x1c, 0x02, 0x1e, 0x02, 0x1e, 0x02, 0x1e, 0x02, 0x1e, 0x02, 0x1e, 0x02, 0x1f, 0x02, 0x1f, 0x02, 0x1f, 0x02, 0x1f, 0x02, 0x1f, 0x02, 0x21, 0x02, 0x21, 0x02, 0x21, 0x02, 0x21, 0x02, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff };
+static uint8_t addr16[] = { 0x01, 0x7d, 0x08, 0x07, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff };
+static uint8_t addr17[] = { 0x01, 0x7d, 0x80, 0x07, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff };
+static uint8_t addr18[] = { 0x01, 0x7d, 0xf8, 0x07, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x4f, 0x00, 0x9e, 0x00, 0xee, 0x00, 0x3f, 0x01, 0x8f, 0x01, 0xe0, 0x01, 0x31, 0x02, 0x82, 0x02, 0xd3, 0x02, 0x25, 0x03, 0x77, 0x03 };
+static uint8_t addr19[] = { 0x01, 0x7d, 0x70, 0x08, 0x78, 0xca, 0x03, 0x1c, 0x04, 0x6f, 0x04, 0xc2, 0x04, 0x16, 0x05, 0x69, 0x05, 0xbe, 0x05, 0x12, 0x06, 0x67, 0x06, 0xbc, 0x06, 0x11, 0x07, 0x66, 0x07, 0xbc, 0x07, 0x12, 0x08, 0x69, 0x08, 0xc0, 0x08, 0x17, 0x09, 0x6e, 0x09, 0xc6, 0x09, 0x1e, 0x0a, 0x76, 0x0a, 0xcf, 0x0a, 0x28, 0x0b, 0x82, 0x0b, 0xdb, 0x0b, 0x35, 0x0c, 0x90, 0x0c, 0xea, 0x0c, 0x45, 0x0d, 0xa1, 0x0d, 0xfd, 0x0d, 0x59, 0x0e, 0xb5, 0x0e, 0x12, 0x0f, 0x6f, 0x0f, 0xcd, 0x0f, 0x2b, 0x10, 0x89, 0x10, 0xe7, 0x10, 0x46, 0x11, 0xa6, 0x11, 0x06, 0x12, 0x66, 0x12, 0xc6, 0x12, 0x27, 0x13, 0x89, 0x13, 0xea, 0x13, 0x4c, 0x14, 0xaf, 0x14, 0x12, 0x15, 0x75, 0x15, 0xd9, 0x15, 0x3d, 0x16, 0xa2, 0x16, 0x07, 0x17, 0x6c, 0x17, 0xd2, 0x17, 0x38, 0x18, 0x9f, 0x18, 0x06, 0x19 };
+static uint8_t addr20[] = { 0x01, 0x7d, 0xe8, 0x08, 0x78, 0x6d, 0x19, 0xd6, 0x19, 0x3e, 0x1a, 0xa7, 0x1a, 0x10, 0x1b, 0x7a, 0x1b, 0xe5, 0x1b, 0x4f, 0x1c, 0xbb, 0x1c, 0x26, 0x1d, 0x93, 0x1d, 0xff, 0x1d, 0x6d, 0x1e, 0xda, 0x1e, 0x49, 0x1f, 0xb7, 0x1f, 0x27, 0x20, 0x96, 0x20, 0x07, 0x21, 0x77, 0x21, 0xe9, 0x21, 0x5b, 0x22, 0xcd, 0x22, 0x40, 0x23, 0xb4, 0x23, 0x28, 0x24, 0x9c, 0x24, 0x11, 0x25, 0x87, 0x25, 0xfe, 0x25, 0x75, 0x26, 0xec, 0x26, 0x64, 0x27, 0xdd, 0x27, 0x56, 0x28, 0xd0, 0x28, 0x4b, 0x29, 0xc6, 0x29, 0x42, 0x2a, 0xbe, 0x2a, 0x3b, 0x2b, 0xb9, 0x2b, 0x38, 0x2c, 0xb7, 0x2c, 0x36, 0x2d, 0xb7, 0x2d, 0x38, 0x2e, 0xba, 0x2e, 0x3c, 0x2f, 0xc0, 0x2f, 0x44, 0x30, 0xc8, 0x30, 0x4e, 0x31, 0xd4, 0x31, 0x5b, 0x32, 0xe3, 0x32, 0x6b, 0x33, 0xf4, 0x33, 0x7e, 0x34, 0x09, 0x35 };
+static uint8_t addr21[] = { 0x01, 0x7d, 0x60, 0x09, 0x78, 0x95, 0x35, 0x21, 0x36, 0xae, 0x36, 0x3d, 0x37, 0xcc, 0x37, 0x5b, 0x38, 0xec, 0x38, 0x7e, 0x39, 0x10, 0x3a, 0xa3, 0x3a, 0x37, 0x3b, 0xcd, 0x3b, 0x63, 0x3c, 0xfa, 0x3c, 0x92, 0x3d, 0x2b, 0x3e, 0xc4, 0x3e, 0x5f, 0x3f, 0xfb, 0x3f, 0x98, 0x40, 0x36, 0x41, 0xd5, 0x41, 0x75, 0x42, 0x16, 0x43, 0xb8, 0x43, 0x5c, 0x44, 0x00, 0x45, 0xa6, 0x45, 0x4c, 0x46, 0xf4, 0x46, 0x9d, 0x47, 0x47, 0x48, 0xf3, 0x48, 0x9f, 0x49, 0x4d, 0x4a, 0xfc, 0x4a, 0xad, 0x4b, 0x5f, 0x4c, 0x12, 0x4d, 0xc6, 0x4d, 0x7c, 0x4e, 0x33, 0x4f, 0xec, 0x4f, 0xa6, 0x50, 0x61, 0x51, 0x1e, 0x52, 0xdc, 0x52, 0x9c, 0x53, 0x5e, 0x54, 0x21, 0x55, 0xe5, 0x55, 0xac, 0x56, 0x74, 0x57, 0x3d, 0x58, 0x08, 0x59, 0xd5, 0x59, 0xa4, 0x5a, 0x75, 0x5b, 0x47, 0x5c, 0x1b, 0x5d };
+static uint8_t addr22[] = { 0x01, 0x7d, 0xd8, 0x09, 0x78, 0xf1, 0x5d, 0xc9, 0x5e, 0xa3, 0x5f, 0x7f, 0x60, 0x5d, 0x61, 0x3d, 0x62, 0x1f, 0x63, 0x04, 0x64, 0xea, 0x64, 0xd3, 0x65, 0xbe, 0x66, 0xab, 0x67, 0x9b, 0x68, 0x8d, 0x69, 0x81, 0x6a, 0x78, 0x6b, 0x72, 0x6c, 0x6e, 0x6d, 0x6d, 0x6e, 0x6f, 0x6f, 0x73, 0x70, 0x7a, 0x71, 0x84, 0x72, 0x91, 0x73, 0xa2, 0x74, 0xb5, 0x75, 0xcb, 0x76, 0xe5, 0x77, 0x02, 0x79, 0x23, 0x7a, 0x46, 0x7b, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff };
+static uint8_t addr23[] = { 0x01, 0x7d, 0x50, 0x0a, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff };
+static uint8_t addr24[] = { 0x01, 0x7d, 0xc8, 0x0a, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff };
+static uint8_t addr25[] = { 0x01, 0x7d, 0x40, 0x0b, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff };
+static uint8_t addr26[] = { 0x01, 0x7d, 0xb8, 0x0b, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff };
+static uint8_t addr27[] = { 0x01, 0x7d, 0x30, 0x0c, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff };
+static uint8_t addr28[] = { 0x01, 0x7d, 0xa8, 0x0c, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff };
+static uint8_t addr29[] = { 0x01, 0x7d, 0x20, 0x0d, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x04, 0x00, 0x09, 0x00, 0x0c, 0x00, 0x10, 0x00, 0x13, 0x00, 0x16, 0x00, 0x19, 0x00, 0x1b, 0x00, 0x1e, 0x00, 0x20, 0x00, 0x23, 0x00, 0x25, 0x00, 0x27, 0x00, 0x29, 0x00, 0x2b, 0x00, 0x2d, 0x00, 0x2f, 0x00, 0x31, 0x00, 0x33, 0x00, 0x34, 0x00, 0x36, 0x00, 0x38, 0x00, 0x3a, 0x00, 0x3b, 0x00, 0x3d, 0x00, 0x3f, 0x00, 0x40, 0x00, 0x42, 0x00, 0x43, 0x00, 0x45, 0x00, 0x46, 0x00, 0x48, 0x00, 0x49, 0x00, 0x4b, 0x00, 0x4c, 0x00 };
+static uint8_t addr30[] = { 0x01, 0x7d, 0x98, 0x0d, 0x78, 0x4d, 0x00, 0x4f, 0x00, 0x50, 0x00, 0x52, 0x00, 0x53, 0x00, 0x55, 0x00, 0x56, 0x00, 0x57, 0x00, 0x59, 0x00, 0x5a, 0x00, 0x5c, 0x00, 0x5d, 0x00, 0x5e, 0x00, 0x60, 0x00, 0x61, 0x00, 0x63, 0x00, 0x64, 0x00, 0x65, 0x00, 0x67, 0x00, 0x68, 0x00, 0x6a, 0x00, 0x6b, 0x00, 0x6c, 0x00, 0x6e, 0x00, 0x6f, 0x00, 0x70, 0x00, 0x72, 0x00, 0x74, 0x00, 0x75, 0x00, 0x77, 0x00, 0x78, 0x00, 0x79, 0x00, 0x7b, 0x00, 0x7d, 0x00, 0x7e, 0x00, 0x80, 0x00, 0x81, 0x00, 0x83, 0x00, 0x85, 0x00, 0x86, 0x00, 0x88, 0x00, 0x8a, 0x00, 0x8b, 0x00, 0x8d, 0x00, 0x8f, 0x00, 0x91, 0x00, 0x93, 0x00, 0x94, 0x00, 0x96, 0x00, 0x99, 0x00, 0x9b, 0x00, 0x9d, 0x00, 0x9f, 0x00, 0xa1, 0x00, 0xa3, 0x00, 0xa5, 0x00, 0xa8, 0x00, 0xaa, 0x00, 0xad, 0x00, 0xaf, 0x00 };
+static uint8_t addr31[] = { 0x01, 0x7d, 0x10, 0x0e, 0x78, 0xb2, 0x00, 0xb5, 0x00, 0xb8, 0x00, 0xbb, 0x00, 0xbf, 0x00, 0xc2, 0x00, 0xc6, 0x00, 0xc9, 0x00, 0xcd, 0x00, 0xd2, 0x00, 0xd6, 0x00, 0xdb, 0x00, 0xe1, 0x00, 0xe6, 0x00, 0xed, 0x00, 0xf4, 0x00, 0xfc, 0x00, 0x05, 0x01, 0x0f, 0x01, 0x1b, 0x01, 0x2a, 0x01, 0x3d, 0x01, 0x58, 0x01, 0x82, 0x01, 0xba, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 };
+static uint8_t addr32[] = { 0x01, 0x7d, 0x88, 0x0e, 0x78, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 };
+static uint8_t addr33[] = { 0x01, 0x7d, 0x00, 0x0f, 0x78, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff };
+static uint8_t addr34[] = { 0x01, 0x7d, 0x78, 0x0f, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff };
+static uint8_t addr35[] = { 0x01, 0x7d, 0xf0, 0x0f, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff };
+static uint8_t addr36[] = { 0x01, 0x7d, 0x68, 0x10, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff };
+static uint8_t addr37[] = { 0x01, 0x7d, 0xe0, 0x10, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x20, 0x00, 0x28, 0x00, 0x30, 0x00, 0x38, 0x00, 0x40, 0x00, 0x48, 0x00, 0x50, 0x00, 0x57, 0x00, 0x5f, 0x00, 0x67, 0x00, 0x6f, 0x00, 0x77, 0x00, 0x7e, 0x00, 0x86, 0x00, 0x8e, 0x00 };
+static uint8_t addr38[] = { 0x01, 0x7d, 0x58, 0x11, 0x78, 0x96, 0x00, 0x9d, 0x00, 0xa5, 0x00, 0xad, 0x00, 0xb4, 0x00, 0xbc, 0x00, 0xc4, 0x00, 0xcc, 0x00, 0xd3, 0x00, 0xdb, 0x00, 0xe3, 0x00, 0xeb, 0x00, 0xf2, 0x00, 0xfa, 0x00, 0x02, 0x01, 0x0a, 0x01, 0x12, 0x01, 0x1a, 0x01, 0x22, 0x01, 0x2a, 0x01, 0x32, 0x01, 0x3a, 0x01, 0x42, 0x01, 0x49, 0x01, 0x52, 0x01, 0x5a, 0x01, 0x62, 0x01, 0x6a, 0x01, 0x72, 0x01, 0x7a, 0x01, 0x82, 0x01, 0x8a, 0x01, 0x92, 0x01, 0x9a, 0x01, 0xa2, 0x01, 0xaa, 0x01, 0xb2, 0x01, 0xba, 0x01, 0xc1, 0x01, 0xc9, 0x01, 0xd1, 0x01, 0xd9, 0x01, 0xe1, 0x01, 0xe9, 0x01, 0xf1, 0x01, 0xf9, 0x01, 0x00, 0x02, 0x08, 0x02, 0x10, 0x02, 0x18, 0x02, 0x20, 0x02, 0x27, 0x02, 0x2f, 0x02, 0x37, 0x02, 0x3f, 0x02, 0x46, 0x02, 0x4e, 0x02, 0x56, 0x02, 0x5d, 0x02, 0x65, 0x02 };
+static uint8_t addr39[] = { 0x01, 0x7d, 0xd0, 0x11, 0x78, 0x6d, 0x02, 0x75, 0x02, 0x7c, 0x02, 0x84, 0x02, 0x8b, 0x02, 0x93, 0x02, 0x9b, 0x02, 0xa2, 0x02, 0xaa, 0x02, 0xb2, 0x02, 0xb9, 0x02, 0xc1, 0x02, 0xc9, 0x02, 0xd0, 0x02, 0xd8, 0x02, 0xdf, 0x02, 0xe7, 0x02, 0xef, 0x02, 0xf6, 0x02, 0xfe, 0x02, 0x05, 0x03, 0x0d, 0x03, 0x14, 0x03, 0x1c, 0x03, 0x24, 0x03, 0x2b, 0x03, 0x33, 0x03, 0x3a, 0x03, 0x42, 0x03, 0x49, 0x03, 0x51, 0x03, 0x58, 0x03, 0x60, 0x03, 0x67, 0x03, 0x6f, 0x03, 0x76, 0x03, 0x7e, 0x03, 0x85, 0x03, 0x8d, 0x03, 0x95, 0x03, 0x9c, 0x03, 0xa4, 0x03, 0xab, 0x03, 0xb3, 0x03, 0xba, 0x03, 0xc2, 0x03, 0xc9, 0x03, 0xd1, 0x03, 0xd8, 0x03, 0xe0, 0x03, 0xe7, 0x03, 0xef, 0x03, 0xf6, 0x03, 0xfe, 0x03, 0x05, 0x04, 0x0d, 0x04, 0x14, 0x04, 0x1c, 0x04, 0x23, 0x04, 0x2b, 0x04 };
+static uint8_t addr40[] = { 0x01, 0x7d, 0x48, 0x12, 0x78, 0x32, 0x04, 0x3a, 0x04, 0x41, 0x04, 0x49, 0x04, 0x50, 0x04, 0x58, 0x04, 0x5f, 0x04, 0x67, 0x04, 0x6f, 0x04, 0x76, 0x04, 0x7e, 0x04, 0x85, 0x04, 0x8d, 0x04, 0x94, 0x04, 0x9c, 0x04, 0xa3, 0x04, 0xab, 0x04, 0xb3, 0x04, 0xba, 0x04, 0xc2, 0x04, 0xc9, 0x04, 0xd1, 0x04, 0xd9, 0x04, 0xe0, 0x04, 0xe8, 0x04, 0xef, 0x04, 0xf7, 0x04, 0xff, 0x04, 0x06, 0x05, 0x0e, 0x05, 0x16, 0x05, 0x1d, 0x05, 0x25, 0x05, 0x2d, 0x05, 0x34, 0x05, 0x3c, 0x05, 0x44, 0x05, 0x4b, 0x05, 0x53, 0x05, 0x5b, 0x05, 0x63, 0x05, 0x6a, 0x05, 0x72, 0x05, 0x7a, 0x05, 0x81, 0x05, 0x89, 0x05, 0x91, 0x05, 0x99, 0x05, 0xa1, 0x05, 0xa8, 0x05, 0xb0, 0x05, 0xb8, 0x05, 0xc0, 0x05, 0xc8, 0x05, 0xcf, 0x05, 0xd7, 0x05, 0xdf, 0x05, 0xe7, 0x05, 0xef, 0x05, 0xf7, 0x05 };
+static uint8_t addr41[] = { 0x01, 0x7d, 0xc0, 0x12, 0x78, 0xff, 0x05, 0x06, 0x06, 0x0e, 0x06, 0x16, 0x06, 0x1e, 0x06, 0x26, 0x06, 0x2e, 0x06, 0x36, 0x06, 0x3e, 0x06, 0x46, 0x06, 0x4e, 0x06, 0x56, 0x06, 0x5e, 0x06, 0x66, 0x06, 0x6e, 0x06, 0x76, 0x06, 0x7e, 0x06, 0x86, 0x06, 0x8e, 0x06, 0x96, 0x06, 0x9e, 0x06, 0xa6, 0x06, 0xae, 0x06, 0xb6, 0x06, 0xbe, 0x06, 0xc6, 0x06, 0xce, 0x06, 0xd6, 0x06, 0xdf, 0x06, 0xe7, 0x06, 0xef, 0x06, 0xf7, 0x06, 0xff, 0x06, 0x07, 0x07, 0x10, 0x07, 0x18, 0x07, 0x20, 0x07, 0x28, 0x07, 0x30, 0x07, 0x39, 0x07, 0x41, 0x07, 0x49, 0x07, 0x51, 0x07, 0x5a, 0x07, 0x62, 0x07, 0x6a, 0x07, 0x73, 0x07, 0x7b, 0x07, 0x83, 0x07, 0x8c, 0x07, 0x94, 0x07, 0x9c, 0x07, 0xa5, 0x07, 0xad, 0x07, 0xb5, 0x07, 0xbe, 0x07, 0xc6, 0x07, 0xcf, 0x07, 0xd7, 0x07, 0xe0, 0x07 };
+static uint8_t addr42[] = { 0x01, 0x7d, 0x38, 0x13, 0x78, 0xe8, 0x07, 0xf1, 0x07, 0xf9, 0x07, 0x02, 0x08, 0x0a, 0x08, 0x13, 0x08, 0x1b, 0x08, 0x24, 0x08, 0x2c, 0x08, 0x35, 0x08, 0x3e, 0x08, 0x46, 0x08, 0x4f, 0x08, 0x58, 0x08, 0x60, 0x08, 0x69, 0x08, 0x72, 0x08, 0x7a, 0x08, 0x83, 0x08, 0x8c, 0x08, 0x95, 0x08, 0x9d, 0x08, 0xa6, 0x08, 0xaf, 0x08, 0xb8, 0x08, 0xc1, 0x08, 0xca, 0x08, 0xd3, 0x08, 0xdc, 0x08, 0xe5, 0x08, 0xee, 0x08, 0xf7, 0x08, 0xff, 0x08, 0x09, 0x09, 0x12, 0x09, 0x1b, 0x09, 0x24, 0x09, 0x2d, 0x09, 0x36, 0x09, 0x3f, 0x09, 0x48, 0x09, 0x51, 0x09, 0x5b, 0x09, 0x64, 0x09, 0x6d, 0x09, 0x76, 0x09, 0x80, 0x09, 0x89, 0x09, 0x92, 0x09, 0x9c, 0x09, 0xa5, 0x09, 0xaf, 0x09, 0xb8, 0x09, 0xc1, 0x09, 0xc8, 0x09, 0xc8, 0x09, 0xc8, 0x09, 0xc8, 0x09, 0xc8, 0x09, 0xc8, 0x09 };
+static uint8_t addr43[] = { 0x01, 0x7d, 0xb0, 0x13, 0x78, 0xc8, 0x09, 0xc8, 0x09, 0x54, 0x70, 0x41, 0x00, 0x05, 0x40, 0x50, 0x0d, 0x00, 0x00, 0x04, 0x1a, 0xc8, 0x00, 0x00, 0xff, 0x05, 0x06, 0xe8, 0x00, 0x00, 0xff, 0xff, 0xff, 0x54, 0x70, 0x42, 0x00, 0x05, 0x40, 0x50, 0x0d, 0x00, 0x00, 0x04, 0x16, 0xc8, 0x00, 0x00, 0xff, 0x05, 0x08, 0xe8, 0x00, 0x01, 0xff, 0xff, 0xff, 0x54, 0x70, 0x43, 0x00, 0x05, 0x40, 0x50, 0x0d, 0x00, 0x00, 0x04, 0x14, 0xc8, 0x00, 0x00, 0xff, 0x05, 0x0a, 0xe8, 0x00, 0x02, 0xff, 0xff, 0xff, 0x56, 0x20, 0x20, 0x00, 0x0c, 0x15, 0x90, 0x1a, 0x64, 0x00, 0x07, 0x07, 0xe8, 0x03, 0x03, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x09, 0x0a, 0xff, 0x41, 0x6c, 0x74, 0x00, 0x05, 0x22, 0x58, 0x08, 0x00, 0x13, 0x02, 0x08, 0x88, 0x13, 0x00, 0xff, 0x04, 0x00, 0x0a, 0x00 };
+static uint8_t addr44[] = { 0x01, 0x7d, 0x28, 0x14, 0x78, 0x00, 0xff, 0xff, 0xff, 0x53, 0x70, 0x64, 0x00, 0x05, 0x32, 0x22, 0x00, 0x18, 0x00, 0x01, 0x0a, 0x64, 0x00, 0x00, 0xff, 0x03, 0x02, 0x05, 0x00, 0x00, 0xff, 0xff, 0xff, 0x52, 0x50, 0x4d, 0x00, 0x24, 0x00, 0xc0, 0xe1, 0xe4, 0x00, 0x03, 0x0c, 0x00, 0x00, 0x00, 0xff, 0x00, 0x14, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x52, 0x70, 0x42, 0x00, 0x04, 0x00, 0x70, 0x38, 0x39, 0x00, 0x03, 0x18, 0x00, 0x00, 0x00, 0xff, 0x01, 0x1e, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x41, 0x6d, 0x70, 0x00, 0x04, 0x00, 0xa0, 0x17, 0x10, 0x27, 0x0c, 0x0e, 0xc8, 0x00, 0x04, 0xff, 0x00, 0x04, 0x64, 0x00, 0x00, 0xff, 0xff, 0xff, 0x57, 0x61, 0x74, 0x00, 0x04, 0x00, 0x00, 0x00, 0xe8, 0x03, 0x23, 0x00, 0xc8, 0x00, 0x00, 0xff, 0x00, 0x2a, 0x00, 0x00 };
+static uint8_t addr45[] = { 0x01, 0x7d, 0xa0, 0x14, 0x78, 0x00, 0xff, 0xff, 0xff, 0x50, 0x72, 0x70, 0x00, 0x04, 0x00, 0xe8, 0x03, 0xe8, 0x03, 0x0b, 0x00, 0xc8, 0x00, 0x00, 0xff, 0x00, 0x24, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x6d, 0x41, 0x48, 0x00, 0x00, 0x00, 0x00, 0x00, 0xe8, 0x03, 0x0d, 0x00, 0xa0, 0x0f, 0x00, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x41, 0x6d, 0x53, 0x00, 0x04, 0x00, 0x29, 0x00, 0xe8, 0x03, 0x25, 0x1c, 0xc8, 0x00, 0x03, 0xff, 0x01, 0x34, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x54, 0x68, 0x72, 0x00, 0x00, 0x04, 0x64, 0x00, 0xfe, 0x00, 0x08, 0x00, 0xc8, 0x00, 0x00, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x53, 0x76, 0x32, 0x00, 0x00, 0x04, 0x01, 0x00, 0x01, 0x00, 0x08, 0x01, 0xc8, 0x00, 0x00, 0xff, 0x00, 0x00, 0x80, 0x00 };
+static uint8_t addr46[] = { 0x01, 0x7d, 0x18, 0x15, 0x78, 0x00, 0xff, 0xff, 0xff, 0x53, 0x76, 0x33, 0x00, 0x00, 0x04, 0x64, 0x00, 0xff, 0x00, 0x08, 0x02, 0xc8, 0x00, 0x00, 0xff, 0x00, 0x00, 0x80, 0x00, 0x00, 0xff, 0xff, 0xff, 0x53, 0x76, 0x34, 0x00, 0x00, 0x04, 0x64, 0x00, 0xff, 0x00, 0x08, 0x03, 0xc8, 0x00, 0x00, 0xff, 0x00, 0x00, 0x80, 0x00, 0x00, 0xff, 0xff, 0xff, 0x52, 0x78, 0x56, 0x00, 0x00, 0x04, 0x06, 0xf9, 0x00, 0x00, 0x09, 0x04, 0x00, 0x00, 0x03, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x47, 0x46, 0x58, 0x00, 0x44, 0x00, 0x64, 0x00, 0x52, 0x00, 0x06, 0x10, 0xc8, 0x00, 0x03, 0xff, 0x00, 0x10, 0xce, 0x0f, 0x00, 0xff, 0xff, 0xff, 0x47, 0x46, 0x59, 0x00, 0x04, 0x00, 0x64, 0x00, 0x57, 0x00, 0x06, 0x12, 0xc8, 0x00, 0x03, 0xff, 0x00, 0x12, 0x56, 0x0f };
+static uint8_t addr47[] = { 0x01, 0x7d, 0x90, 0x15, 0x78, 0x00, 0xff, 0xff, 0xff, 0x45, 0x47, 0x41, 0x00, 0x05, 0x00, 0x7f, 0x16, 0x00, 0x00, 0x05, 0x14, 0xff, 0xff, 0x00, 0xff, 0x06, 0x0c, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x45, 0x47, 0x42, 0x00, 0x05, 0x00, 0x7f, 0x16, 0x00, 0x00, 0x05, 0x16, 0xff, 0xff, 0x00, 0xff, 0x06, 0x0e, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x42, 0x75, 0x67, 0x00, 0x00, 0x00, 0x90, 0x01, 0xac, 0x01, 0x10, 0x00, 0xff, 0xff, 0x00, 0xff, 0x06, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x43, 0x62, 0x52, 0x00, 0x00, 0x00, 0x58, 0x02, 0x0a, 0x00, 0x0a, 0x00, 0xc8, 0x00, 0x00, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x4e, 0x65, 0x74, 0x00, 0x00, 0x00, 0x3c, 0x00, 0x01, 0x00, 0x12, 0x00, 0xc8, 0x00, 0x00, 0xff, 0x00, 0x00, 0x00, 0x00 };
+static uint8_t addr48[] = { 0x01, 0x7d, 0x08, 0x16, 0x78, 0x00, 0xff, 0xff, 0xff, 0x56, 0x61, 0x72, 0x00, 0x00, 0x00, 0x3c, 0x00, 0xd0, 0x07, 0x11, 0x02, 0xc8, 0x00, 0x00, 0xff, 0x00, 0x00, 0xc8, 0x00, 0x00, 0xff, 0xff, 0xff, 0x53, 0x61, 0x74, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x2d, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0b, 0xff, 0x53, 0x69, 0x67, 0x00, 0x00, 0x00, 0x64, 0x00, 0x4b, 0x00, 0x0e, 0x00, 0xc8, 0x00, 0x00, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x50, 0x6b, 0x25, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0x00, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x47, 0x50, 0x53, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x15, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 };
+static uint8_t addr49[] = { 0x01, 0x7d, 0x80, 0x16, 0x78, 0x00, 0x00, 0x01, 0xff, 0x53, 0x70, 0x47, 0x00, 0x04, 0x08, 0x7f, 0x04, 0xe8, 0x03, 0x16, 0x26, 0x00, 0x00, 0x00, 0xff, 0x00, 0x26, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x41, 0x6c, 0x74, 0x00, 0x04, 0x09, 0xd1, 0x0c, 0x10, 0x27, 0x17, 0x2e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x28, 0x00, 0x00, 0x00, 0x09, 0x0b, 0xff, 0x43, 0x6f, 0x75, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x00, 0x18, 0x2a, 0x00, 0x00, 0x00, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x55, 0x54, 0x43, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x19, 0x00, 0x00, 0x00, 0x00, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x47, 0x53, 0x74, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x1a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 };
+static uint8_t addr50[] = { 0x01, 0x7d, 0xf8, 0x16, 0x78, 0x00, 0x00, 0x00, 0xff, 0x48, 0x44, 0x50, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x2e, 0x00, 0xc8, 0x00, 0x04, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x41, 0x6d, 0x42, 0x00, 0x04, 0x00, 0x6a, 0x02, 0x40, 0x1f, 0x1b, 0x1a, 0xc8, 0x00, 0x04, 0xff, 0x01, 0x16, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x41, 0x6d, 0x43, 0x00, 0x04, 0x00, 0x6a, 0x02, 0xd0, 0x07, 0x1b, 0x10, 0xc8, 0x00, 0x04, 0xff, 0x02, 0x18, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x48, 0x6c, 0x64, 0x00, 0x00, 0x04, 0x01, 0x00, 0x01, 0x00, 0x26, 0x1f, 0x00, 0x00, 0x00, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x4c, 0x73, 0x74, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x27, 0x20, 0x00, 0x00, 0x00, 0xff, 0x00, 0x01, 0x00, 0x00 };
+static uint8_t addr51[] = { 0x01, 0x7d, 0x70, 0x17, 0x78, 0x00, 0xff, 0xff, 0xff, 0x46, 0x64, 0x41, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x28, 0x22, 0x00, 0x00, 0x00, 0xff, 0x00, 0x02, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x46, 0x64, 0x42, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x28, 0x24, 0x00, 0x00, 0x00, 0xff, 0x00, 0x03, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x46, 0x64, 0x4c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x28, 0x26, 0x00, 0x00, 0x00, 0xff, 0x00, 0x04, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x46, 0x64, 0x52, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x28, 0x28, 0x00, 0x00, 0x00, 0xff, 0x00, 0x05, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x44, 0x69, 0x73, 0x00, 0x00, 0x09, 0x00, 0x00, 0x00, 0x00, 0x2a, 0x00, 0xf4, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 };
+static uint8_t addr52[] = { 0x01, 0x7d, 0xe8, 0x17, 0x78, 0x00, 0x11, 0x0b, 0xff, 0x52, 0x78, 0x48, 0x00, 0x00, 0x04, 0x01, 0x00, 0x01, 0x00, 0x2c, 0x00, 0x00, 0x00, 0x00, 0xff, 0x00, 0x06, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x52, 0x70, 0x43, 0x00, 0x04, 0x00, 0x70, 0x38, 0x39, 0x00, 0x03, 0x1a, 0x00, 0x00, 0x00, 0xff, 0x02, 0x20, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x52, 0x70, 0x44, 0x00, 0x04, 0x00, 0x70, 0x38, 0x39, 0x00, 0x03, 0x1c, 0x00, 0x00, 0x00, 0xff, 0x03, 0x22, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x54, 0x68, 0x25, 0x00, 0x00, 0x04, 0x01, 0x00, 0x02, 0x00, 0x1c, 0x20, 0x00, 0x00, 0x00, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x54, 0x54, 0x70, 0x00, 0x00, 0x04, 0x2e, 0x00, 0x0a, 0x00, 0x1d, 0x25, 0xc8, 0x00, 0x00, 0xff, 0x00, 0x00, 0x32, 0x00 };
+static uint8_t addr53[] = { 0x01, 0x7d, 0x60, 0x18, 0x78, 0x00, 0xff, 0xff, 0xff, 0x52, 0x50, 0x4d, 0x00, 0x00, 0x04, 0x00, 0x00, 0x04, 0x00, 0x1e, 0x27, 0xc8, 0x00, 0x00, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x45, 0x53, 0x74, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1f, 0x00, 0x00, 0x00, 0x00, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x50, 0x61, 0x56, 0x00, 0x00, 0x04, 0xe8, 0x03, 0xff, 0x00, 0x20, 0x21, 0xc8, 0x00, 0x03, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x50, 0x75, 0x56, 0x00, 0x00, 0x04, 0xe8, 0x03, 0xff, 0x00, 0x21, 0x23, 0xc8, 0x00, 0x03, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x56, 0x74, 0x42, 0x00, 0x04, 0x00, 0xa4, 0x00, 0x40, 0x1f, 0x22, 0x1c, 0xc8, 0x00, 0x04, 0xff, 0x02, 0x1a, 0x00, 0x00 };
+static uint8_t addr54[] = { 0x01, 0x7d, 0xd8, 0x18, 0x78, 0x00, 0xff, 0xff, 0xff, 0x56, 0x74, 0x43, 0x00, 0x04, 0x00, 0xa4, 0x00, 0xd0, 0x07, 0x22, 0x12, 0xc8, 0x00, 0x04, 0xff, 0x02, 0x1c, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x45, 0x47, 0x43, 0x00, 0x05, 0x00, 0x7f, 0x16, 0x00, 0x00, 0x05, 0x10, 0xff, 0xff, 0x00, 0xff, 0x04, 0x30, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x45, 0x47, 0x44, 0x00, 0x05, 0x00, 0x7f, 0x16, 0x00, 0x00, 0x05, 0x12, 0xff, 0xff, 0x00, 0xff, 0x04, 0x32, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x47, 0x46, 0x41, 0x00, 0x04, 0x00, 0x64, 0x00, 0x5c, 0x01, 0x06, 0x16, 0xc8, 0x00, 0x03, 0xff, 0x00, 0x2c, 0x58, 0x3d, 0x00, 0xff, 0xff, 0xff, 0x47, 0x46, 0x42, 0x00, 0x04, 0x00, 0x64, 0x00, 0x5c, 0x01, 0x06, 0x14, 0xc8, 0x00, 0x03, 0xff, 0x00, 0x2e, 0x58, 0x3d };
+static uint8_t addr55[] = { 0x01, 0x7d, 0x50, 0x19, 0x78, 0x00, 0xff, 0xff, 0xff, 0x41, 0x64, 0x41, 0x00, 0x00, 0x00, 0xf4, 0x01, 0xff, 0x7f, 0x24, 0x1a, 0xc8, 0x00, 0x03, 0xff, 0x00, 0x00, 0x07, 0x10, 0x00, 0xff, 0xff, 0xff, 0x41, 0x64, 0x42, 0x00, 0x00, 0x00, 0xf4, 0x01, 0xff, 0x7f, 0x24, 0x1c, 0xc8, 0x00, 0x03, 0xff, 0x00, 0x00, 0x07, 0x10, 0x00, 0xff, 0xff, 0xff, 0x41, 0x64, 0x43, 0x00, 0x00, 0x00, 0xf4, 0x01, 0xff, 0x7f, 0x24, 0x14, 0xc8, 0x00, 0x03, 0xff, 0x00, 0x00, 0x07, 0x10, 0x00, 0xff, 0xff, 0xff, 0x41, 0x64, 0x44, 0x00, 0x00, 0x00, 0xf4, 0x01, 0xff, 0x7f, 0x24, 0x16, 0xc8, 0x00, 0x03, 0xff, 0x00, 0x00, 0x07, 0x10, 0x00, 0xff, 0xff, 0xff, 0x41, 0x64, 0x45, 0x00, 0x00, 0x00, 0xf4, 0x01, 0xff, 0x7f, 0x24, 0x0a, 0xc8, 0x00, 0x03, 0xff, 0x00, 0x00, 0x07, 0x10 };
+static uint8_t addr56[] = { 0x01, 0x7d, 0xc8, 0x19, 0x78, 0x00, 0xff, 0xff, 0xff, 0x41, 0x64, 0x46, 0x00, 0x00, 0x00, 0xf4, 0x01, 0xff, 0x7f, 0x24, 0x08, 0xc8, 0x00, 0x03, 0xff, 0x00, 0x00, 0x07, 0x10, 0x00, 0xff, 0xff, 0xff, 0x41, 0x64, 0x47, 0x00, 0x00, 0x00, 0xf4, 0x01, 0xff, 0x0f, 0x24, 0x0e, 0xc8, 0x00, 0x03, 0xff, 0x00, 0x00, 0x07, 0x10, 0x00, 0xff, 0xff, 0xff, 0x48, 0x6f, 0x6d, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x29, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x11, 0x0a, 0xff, 0x57, 0x61, 0x79, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x2f, 0x00, 0x00, 0x00, 0x00, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x4f, 0x50, 0x69, 0x6c, 0x00, 0x00, 0x6f, 0x74, 0x00, 0x00, 0x2b, 0x00, 0x00, 0x00, 0x00, 0xff, 0x00, 0x00, 0x07, 0x00 };
+static uint8_t addr57[] = { 0x01, 0x7D, 0x40, 0x1A, 0x06, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x46, 0x00, 0x00, 0x00, 0xF4, 0x01, 0xFF, 0x7F, 0x24, 0x08, 0xC8, 0x00, 0x03, 0xFF, 0x00, 0x00, 0x07, 0x10, 0x00, 0xFF, 0xFF, 0xFF, 0x41, 0x64, 0x47, 0x00, 0x00, 0x00, 0xF4, 0x01, 0xFF, 0x0F, 0x24, 0x0E, 0xC8, 0x00, 0x03, 0xFF, 0x00, 0x00, 0x07, 0x10, 0x00, 0xFF, 0xFF, 0xFF, 0x48, 0x6F, 0x6D, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x29, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x11, 0x0A, 0xFF, 0x57, 0x61, 0x79, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x2F, 0x00, 0x00, 0x00, 0x00, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0x4F, 0x50, 0x69, 0x6C, 0x00, 0x00, 0x6F, 0x74, 0x00, 0x00, 0x2B, 0x00, 0x00, 0x00, 0x00, 0xFF, 0x00, 0x00, 0x07, 0x00};
+//static uint8_t addr00[] = { 0x01, 0x7D, 0x00, 0x00, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+/*
+static uint8_t addr01[] = { 0x01, 0x7d, 0x00, 0x00, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x04, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr02[] = { 0x01, 0x7d, 0x78, 0x00, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr03[] = { 0x01, 0x7d, 0xf0, 0x00, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x04, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr04[] = { 0x01, 0x7d, 0x68, 0x01, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x05, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr05[] = { 0x01, 0x7d, 0xe0, 0x01, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x05, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr06[] = { 0x01, 0x7d, 0x58, 0x02, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x05, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr07[] = { 0x01, 0x7d, 0xd0, 0x02, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr08[] = { 0x01, 0x7d, 0x48, 0x03, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x06, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr09[] = { 0x01, 0x7d, 0xc0, 0x03, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x06, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr10[] = { 0x01, 0x7d, 0x38, 0x04, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x06, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr11[] = { 0x01, 0x7d, 0xb0, 0x04, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x07, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr12[] = { 0x01, 0x7d, 0x28, 0x05, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr13[] = { 0x01, 0x7d, 0xa0, 0x05, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x07, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr14[] = { 0x01, 0x7d, 0x18, 0x06, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x08, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr15[] = { 0x01, 0x7d, 0x90, 0x06, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x08, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr16[] = { 0x01, 0x7d, 0x08, 0x07, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x08, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr17[] = { 0x01, 0x7d, 0x80, 0x07, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr18[] = { 0x01, 0x7d, 0xf8, 0x07, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x09, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr19[] = { 0x01, 0x7d, 0x70, 0x08, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x09, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr20[] = { 0x01, 0x7d, 0xe8, 0x08, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x0a, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr21[] = { 0x01, 0x7d, 0x60, 0x09, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x0a, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr22[] = { 0x01, 0x7d, 0xd8, 0x09, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr23[] = { 0x01, 0x7d, 0x50, 0x0a, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x0a, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr24[] = { 0x01, 0x7d, 0xc8, 0x0a, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x0b, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr25[] = { 0x01, 0x7d, 0x40, 0x0b, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x0b, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr26[] = { 0x01, 0x7d, 0xb8, 0x0b, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x0c, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr27[] = { 0x01, 0x7d, 0x30, 0x0c, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr28[] = { 0x01, 0x7d, 0xa8, 0x0c, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x0c, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr29[] = { 0x01, 0x7d, 0x20, 0x0d, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x0c, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr30[] = { 0x01, 0x7d, 0x98, 0x0d, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x0d, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr31[] = { 0x01, 0x7d, 0x10, 0x0e, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x0d, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr32[] = { 0x01, 0x7d, 0x88, 0x0e, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr33[] = { 0x01, 0x7d, 0x00, 0x0f, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x0e, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr34[] = { 0x01, 0x7d, 0x78, 0x0f, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x0e, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr35[] = { 0x01, 0x7d, 0xf0, 0x0f, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x0e, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr36[] = { 0x01, 0x7d, 0x68, 0x10, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x0f, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr37[] = { 0x01, 0x7d, 0xe0, 0x10, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr38[] = { 0x01, 0x7d, 0x58, 0x11, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x0f, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr39[] = { 0x01, 0x7d, 0xd0, 0x11, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x0f, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr40[] = { 0x01, 0x7d, 0x48, 0x12, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x10, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr41[] = { 0x01, 0x7d, 0xc0, 0x12, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x10, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr42[] = { 0x01, 0x7d, 0x38, 0x13, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr43[] = { 0x01, 0x7d, 0xb0, 0x13, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x11, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr44[] = { 0x01, 0x7d, 0x28, 0x14, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x11, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr45[] = { 0x01, 0x7d, 0xa0, 0x14, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x11, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr46[] = { 0x01, 0x7d, 0x18, 0x15, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x12, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr47[] = { 0x01, 0x7d, 0x90, 0x15, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr48[] = { 0x01, 0x7d, 0x08, 0x16, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x12, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr49[] = { 0x01, 0x7d, 0x80, 0x16, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x13, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr50[] = { 0x01, 0x7d, 0xf8, 0x16, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x13, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr51[] = { 0x01, 0x7d, 0x70, 0x17, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x13, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr52[] = { 0x01, 0x7d, 0xe8, 0x17, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr53[] = { 0x01, 0x7d, 0x60, 0x18, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x14, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr54[] = { 0x01, 0x7d, 0xd8, 0x18, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x14, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr55[] = { 0x01, 0x7d, 0x50, 0x19, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x15, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr56[] = { 0x01, 0x7d, 0xc8, 0x19, 0x78, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x15, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+static uint8_t addr57[] = { 0x01, 0x7D, 0x40, 0x1A, 0x06, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x15, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
+*/
+
+uint8_t WriteConfig(int page)
+{
+	uint8_t buffer[0x10]={0};
+	uint8_t * p;
+	int32_t error;
+	static uint8_t retry_count=0;
+	if(page==0)
+		return 0;
+
+	if(page==1)
+		p=addr01;
+	if(page==2)
+		p=addr02;
+	if(page==3)
+		p=addr03;
+	if(page==4)
+		p=addr04;
+	if(page==5)
+		p=addr05;
+	if(page==6)
+		p=addr06;
+	if(page==7)
+		p=addr07;
+	if(page==8)
+		p=addr08;
+	if(page==9)
+		p=addr09;
+	if(page==10)
+		p=addr10;
+	if(page==11)
+		p=addr11;
+	if(page==12)
+		p=addr12;
+	if(page==13)
+		p=addr13;
+	if(page==14)
+		p=addr14;
+	if(page==15)
+		p=addr15;
+	if(page==16)
+		p=addr16;
+	if(page==17)
+		p=addr17;
+	if(page==18)
+		p=addr18;
+	if(page==19)
+		p=addr19;
+	if(page==20)
+		p=addr20;
+	if(page==21)
+		p=addr21;
+	if(page==22)
+		p=addr22;
+	if(page==23)
+		p=addr23;
+	if(page==24)
+		p=addr24;
+	if(page==25)
+		p=addr25;
+	if(page==26)
+		p=addr26;
+	if(page==27)
+		p=addr27;
+	if(page==28)
+		p=addr28;
+	if(page==29)
+		p=addr29;
+	if(page==30)
+		p=addr30;
+	if(page==31)
+		p=addr31;
+	if(page==32)
+		p=addr32;
+	if(page==33)
+		p=addr33;
+	if(page==34)
+		p=addr34;
+	if(page==35)
+		p=addr35;
+	if(page==36)
+		p=addr36;
+	if(page==37)
+		p=addr37;
+	if(page==38)
+		p=addr38;
+	if(page==39)
+		p=addr39;
+	if(page==40)
+		p=addr40;
+	if(page==41)
+		p=addr41;
+	if(page==42)
+		p=addr42;
+	if(page==43)
+		p=addr43;
+	if(page==44)
+		p=addr44;
+	if(page==45)
+		p=addr45;
+	if(page==46)
+		p=addr46;
+	if(page==47)
+		p=addr47;
+	if(page==48)
+		p=addr48;
+	if(page==49)
+		p=addr49;
+	if(page==50)
+		p=addr50;
+	if(page==51)
+		p=addr51;
+	if(page==52)
+		p=addr52;
+	if(page==53)
+		p=addr53;
+	if(page==54)
+		p=addr54;
+	if(page==55)
+		p=addr55;
+	if(page==56)
+		p=addr56;
+	if(page==57)
+		p=addr57;
+
+	//p=addr00;
+	uint32_t start=(page-1)*0x78;
+
+	DEBUG_MSG("\rpage %d ", page);
+	if (PIOS_I2C_LockDevice(5 / portTICK_RATE_MS))
+	{
+		uint8_t cmd[5];
+		cmd[0] = 0x01;
+		cmd[1] = 0x7D;
+		cmd[2] = (uint8_t)(start & 0xFF);
+		cmd[3] = (uint8_t)(start >> 8);
+		cmd[4] = 0x78;
+
+		/*PIOS_I2C_Transfer(I2C_Write_WithoutStop, 0x30<<1, cmd, 0);
+		int32_t error = PIOS_I2C_Transfer(I2C_Write_WithoutStop, 0x30<<1, cmd, 2);
+		DEBUG_MSG("\rerrx1 %d ", error);
+		// Now receive byte(s)
+		if(!error) {
+			//PIOS_I2C_Transfer(I2C_Write_WithoutStop, 0x30<<1, cmd, 0);
+			//error = PIOS_I2C_Transfer(I2C_Write, 0x30<<1, addr78, sizeof(addr78));
+			error = PIOS_I2C_Transfer(I2C_Read, 0x30<<1, buffer, 1);
+		}
+		DEBUG_MSG("\rerrx2 %d ", error);
+		DEBUG_MSG("\ransx00 0x%02x ", buffer[0]);
+*/
+		//PIOS_I2C_Transfer(I2C_Write_WithoutStop, 0x30<<1, buffer, 0);
+		//PIOS_I2C_Transfer(I2C_Write_WithoutStop, 0x30<<1, cmd, 5);
+		/*if (PIOS_I2C_Transfer(I2C_Write_WithoutStop, 0x30<<1, addr00, sizeof(addr00)-1) == 0)
+		{
+			if (PIOS_I2C_Transfer(I2C_Read, 0x30<<1, buffer, 1) == 0)
+			{
+				DEBUG_MSG("\rans00 0x%02x ", buffer[0]);
+			}
+		}*/
+		PIOS_I2C_Transfer(I2C_Write, 0x30<<1, cmd, 0);
+		//error = PIOS_I2C_Transfer(I2C_Write_WithoutStop, 0x30<<1, cmd, 5);
+		//error = PIOS_I2C_Transfer(I2C_Write, 0x30<<1, &p[5], 120);
+		//error = PIOS_I2C_Transfer(I2C_Write, 0x30<<1, p, p[4]+5);
+		error = PIOS_I2C_Transfer(I2C_Write, 0x30<<1, p, 125);
+
+		DEBUG_MSG("\rerr1 %d ", error);
+		/* Now receive byte(s) */
+		if(!error) {
+			//PIOS_I2C_Transfer(I2C_Write_WithoutStop, 0x30<<1, cmd, 0);
+			//error = PIOS_I2C_Transfer(I2C_Write, 0x30<<1, addr78, sizeof(addr78));
+			//error = PIOS_I2C_Transfer(I2C_Read, 0x30<<1, buffer, 10);
+			error = PIOS_I2C_Transfer(I2C_Write, 0x30<<1, cmd, 0);
+		}
+		DEBUG_MSG("\rerr2 %d ", error);
+		DEBUG_MSG("\rans00 0x%02x ", buffer[0]);
+		/*PIOS_I2C_Transfer(I2C_Write_WithoutStop, 0x30<<1, cmd, 0);
+		if (PIOS_I2C_Transfer(I2C_Write_WithoutStop, 0x30<<1, addr78, 10) == 0)
+		{
+			if (PIOS_I2C_Transfer(I2C_Read, 0x30<<1, buffer, 1) == 0)
+			{
+				DEBUG_MSG("\rans78 0x%02x ", buffer[0]);
+			}
+		}*/
+		PIOS_I2C_UnlockDevice();
+	}
+	if(error == 0)
+		retry_count=0;
+	else
+	{
+		retry_count++;
+		DEBUG_MSG("\rretry %d", retry_count);
+		if(retry_count==5) //retry 5 times
+		{
+			retry_count=0;
+			error=0;
+		}
+	}
+	return error;
+}
+
+static void VerifyConfig(void)
+{
+	uint8_t buf[0x78];
+	uint32_t addr=0;
+	uint32_t n=0x78;
+	uint8_t * p;
+	uint8_t page;
+	bool ok;
+	while (addr<CONFIG_LENGTH)
+	{
+		n = MIN(CONFIG_LENGTH-addr, sizeof(buf));
+		ok = FALSE;
+		while (!ok)
+		{
+			if (Read(addr, n, buf))
+			{
+				page=(addr/0x78)+1;
+
+				if(page==1)
+					p=addr01;
+				if(page==2)
+					p=addr02;
+				if(page==3)
+					p=addr03;
+				if(page==4)
+					p=addr04;
+				if(page==5)
+					p=addr05;
+				if(page==6)
+					p=addr06;
+				if(page==7)
+					p=addr07;
+				if(page==8)
+					p=addr08;
+				if(page==9)
+					p=addr09;
+				if(page==10)
+					p=addr10;
+				if(page==11)
+					p=addr11;
+				if(page==12)
+					p=addr12;
+				if(page==13)
+					p=addr13;
+				if(page==14)
+					p=addr14;
+				if(page==15)
+					p=addr15;
+				if(page==16)
+					p=addr16;
+				if(page==17)
+					p=addr17;
+				if(page==18)
+					p=addr18;
+				if(page==19)
+					p=addr19;
+				if(page==20)
+					p=addr20;
+				if(page==21)
+					p=addr21;
+				if(page==22)
+					p=addr22;
+				if(page==23)
+					p=addr23;
+				if(page==24)
+					p=addr24;
+				if(page==25)
+					p=addr25;
+				if(page==26)
+					p=addr26;
+				if(page==27)
+					p=addr27;
+				if(page==28)
+					p=addr28;
+				if(page==29)
+					p=addr29;
+				if(page==30)
+					p=addr30;
+				if(page==31)
+					p=addr31;
+				if(page==32)
+					p=addr32;
+				if(page==33)
+					p=addr33;
+				if(page==34)
+					p=addr34;
+				if(page==35)
+					p=addr35;
+				if(page==36)
+					p=addr36;
+				if(page==37)
+					p=addr37;
+				if(page==38)
+					p=addr38;
+				if(page==39)
+					p=addr39;
+				if(page==40)
+					p=addr40;
+				if(page==41)
+					p=addr41;
+				if(page==42)
+					p=addr42;
+				if(page==43)
+					p=addr43;
+				if(page==44)
+					p=addr44;
+				if(page==45)
+					p=addr45;
+				if(page==46)
+					p=addr46;
+				if(page==47)
+					p=addr47;
+				if(page==48)
+					p=addr48;
+				if(page==49)
+					p=addr49;
+				if(page==50)
+					p=addr50;
+				if(page==51)
+					p=addr51;
+				if(page==52)
+					p=addr52;
+				if(page==53)
+					p=addr53;
+				if(page==54)
+					p=addr54;
+				if(page==55)
+					p=addr55;
+				if(page==56)
+					p=addr56;
+				if(page==57)
+					p=addr57;
+
+				if(!memcmp(buf,&p[5],n))
+				{
+					DEBUG_MSG("\raddr %04x: OK",addr);
+				}
+				else
+				{
+					DEBUG_MSG("\raddr %04x:",addr);
+					for(uint32_t i=0; i<n; i++)
+						DEBUG_MSG("0x%02x, ", buf[i]);
+				}
+				ok = TRUE;
+			}
+		}
+		DEBUG_MSG("\n\r");
+		addr += n;
+	}
+}
+
+#endif
+
+
+
+#ifdef DO_PAR_SEEK
+
+static void DoParSeek(void)
+{
+	int pos=3;
+	char save;
+	while(1)
+	{
+		int i;
+
+		SetVoltage(pos*1000+100);
+		save = msg[pos];
+		for (i=0;i<256; i+=5)
+		{
+			//msg[pos]=i;
+			DEBUG_MSG("SendMsg .");
+			if (PIOS_I2C_LockDevice(5000 / portTICK_RATE_MS))
+			{
+				DEBUG_MSG(".");
+				PIOS_I2C_Transfer(I2C_Write, 0x30<<1, msg, sizeof(msg));
+				DEBUG_MSG(".");
+				PIOS_I2C_UnlockDevice();
+			}
+			DEBUG_MSG("\n\r");
+
+
+			vTaskDelay(100 / portTICK_RATE_MS);
+		}
+		msg[pos] = save;
+		pos+=1;
+
+		if (pos == OSDMSG_V_LS_IDX || pos == OSDMSG_VA_MS_IDX)
+			pos++;
+
+		if (pos>sizeof(msg))
+			pos = 3;
+
+
+	}
+}
+
+#endif
+
+static void Task(void* parameters)
+{
+	uint32_t cnt = 0;
+
+#ifdef ENABLE_DEBUG_MSG
+	PIOS_COM_ChangeBaud(DEBUG_PORT, 57600);
+#endif
+
+	PositionActualConnectCallback(PositionActualUpdatedCb);
+	FlightBatteryStateConnectCallback(FlightBatteryStateUpdatedCb);
+
+#ifdef WRITE_CONFIG
+	vTaskDelay(1000 / portTICK_RATE_MS);
+	DEBUG_MSG("Write Start\n");
+	for(int i=1;i<58;i++)
+	{
+		vTaskDelay(100 / portTICK_RATE_MS);
+		if(WriteConfig(i))
+			i--;
+	}
+	VerifyConfig();
+	DEBUG_MSG("Write End\n");
+	while(1)
+		vTaskDelay(100 / portTICK_RATE_MS);
+#endif
+
+
+#ifdef DUMP_CONFIG
+	vTaskDelay(1000 / portTICK_RATE_MS);
+	DEBUG_MSG("DUMP Start\n");
+	DumpConfig();
+	DEBUG_MSG("DUMP End\n");
+	while(1)
+		vTaskDelay(100 / portTICK_RATE_MS);
+#endif
+
+	DEBUG_MSG("OSD ET Std Started\n");
+	vTaskDelay(2000 / portTICK_RATE_MS);
+
+#ifdef DO_PAR_SEEK
+	DoParSeek();
+#endif
+
+	while (1)
+	{
+		DEBUG_MSG("%d\n\r", cnt);
+#if 1
+		if ( newBattData )
+		{
+			FlightBatteryStateData flightBatteryData;
+
+			FlightBatteryStateGet(&flightBatteryData);
+
+			DEBUG_MSG("%5d Batt: V=%dmV\n\r", cnt, (uint32_t)(flightBatteryData.Voltage*1000));
+
+			SetVoltage((uint32_t)(flightBatteryData.Voltage*1000));
+			SetCurrent((uint32_t)(flightBatteryData.Current*1000));
+			newBattData = FALSE;
+		}
+
+
+		if (newPosData)
+		{
+			PositionActualData positionData;
+
+			PositionActualGet(&positionData);
+
+			DEBUG_MSG("%5d Pos: #stat=%d #sats=%d alt=%d\n\r", cnt,
+					positionData.Status, positionData.Satellites, (uint32_t)positionData.Altitude);
+
+			// GPS Status
+			if (positionData.Status == POSITIONACTUAL_STATUS_FIX3D)
+				msg[OSDMSG_GPS_STAT] = OSDMSG_GPS_STAT_FIX;
+			else
+				msg[OSDMSG_GPS_STAT] = OSDMSG_GPS_STAT_NOFIX;
+			msg[OSDMSG_GPS_STAT] |= OSDMSG_GPS_STAT_HB_FLAG;
+
+
+			// GPS info
+			SetCoord(OSDMSG_LAT_IDX, positionData.Latitude);
+			SetCoord(OSDMSG_LON_IDX, positionData.Longitude);
+			SetAltitude(positionData.Altitude);
+			SetNbSats(positionData.Satellites);
+			SetCourse(positionData.Heading);
+
+			newPosData = FALSE;
+		}
+		else
+		{
+			msg[OSDMSG_GPS_STAT] &= ~OSDMSG_GPS_STAT_HB_FLAG;
+		}
+#endif
+
+		DEBUG_MSG("SendMsg .");
+		if (PIOS_I2C_LockDevice(5000 / portTICK_RATE_MS))
+		{
+			DEBUG_MSG(".");
+			PIOS_I2C_Transfer(I2C_Write, 0x30<<1, msg, sizeof(msg));
+			DEBUG_MSG(".");
+			PIOS_I2C_UnlockDevice();
+		}
+		DEBUG_MSG("\n\r");
+
+		cnt++;
+
+		vTaskDelay(100 / portTICK_RATE_MS);
+	}
+}
+
+
+//
+// Public functions
+//
+
+/**
+ * Initialise the module
+ * \return -1 if initialisation failed
+ * \return 0 on success
+ */
+int32_t OsdEtStdInitialize(void)
+{
+	// Start gps task
+	xTaskCreate(Task, (signed char*) "Osd", STACK_SIZE, NULL, TASK_PRIORITY, NULL);
+
+	return 0;
+}

flight/OpenPilot.posix/Modules/Stabilization/inc/stabilization.h

@@ -0,0 +1,31 @@
+/**
+ ******************************************************************************
+ *
+ * @file       stabilization.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Attitude stabilization module.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef STABILIZATION_H
+#define STABILIZATION_H
+
+int32_t StabilizationInitialize();
+
+#endif // STABILIZATION_H

flight/OpenPilot.posix/Modules/Stabilization/stabilization.c

@@ -0,0 +1,180 @@
+/**
+ ******************************************************************************
+ *
+ * @file       stabilization.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Attitude stabilization module.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+#include "stabilization.h"
+#include "stabilizationsettings.h"
+#include "actuatordesired.h"
+#include "attitudedesired.h"
+#include "attitudeactual.h"
+#include "manualcontrolcommand.h"
+#include "systemsettings.h"
+
+// Private constants
+#define STACK_SIZE configMINIMAL_STACK_SIZE
+#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
+#define PITCH_INTEGRAL_LIMIT 0.5
+#define ROLL_INTEGRAL_LIMIT 0.5
+#define YAW_INTEGRAL_LIMIT 0.5
+
+// Private types
+
+// Private variables
+static xTaskHandle taskHandle;
+
+// Private functions
+static void stabilizationTask(void* parameters);
+static float bound(float val, float min, float max);
+
+/**
+ * Module initialization
+ */
+int32_t StabilizationInitialize()
+{
+	// Initialize variables
+
+	// Start main task
+	xTaskCreate(stabilizationTask, (signed char*)"Stabilization", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
+
+	return 0;
+}
+
+/**
+ * Module task
+ */
+static void stabilizationTask(void* parameters)
+{
+	StabilizationSettingsData stabSettings;
+	ActuatorDesiredData actuatorDesired;
+	AttitudeDesiredData attitudeDesired;
+	AttitudeActualData attitudeActual;
+	ManualControlCommandData manualControl;
+	SystemSettingsData systemSettings;
+	portTickType lastSysTime;
+	float pitchError, pitchErrorLast;
+	float rollError, rollErrorLast;
+	float yawError, yawErrorLast;
+	float pitchDerivative;
+	float rollDerivative;
+	float yawDerivative;
+	float pitchIntegral, pitchIntegralLimit;
+	float rollIntegral, rollIntegralLimit;
+	float yawIntegral, yawIntegralLimit;
+
+	// Initialize
+	pitchIntegral = 0.0;
+	rollIntegral = 0.0;
+	yawIntegral = 0.0;
+	pitchErrorLast = 0.0;
+	rollErrorLast = 0.0;
+	yawErrorLast = 0.0;
+
+	// Main task loop
+	lastSysTime = xTaskGetTickCount();
+	while (1)
+	{
+		// Read settings and other objects
+		StabilizationSettingsGet(&stabSettings);
+		SystemSettingsGet(&systemSettings);
+		ManualControlCommandGet(&manualControl);
+		AttitudeDesiredGet(&attitudeDesired);
+		AttitudeActualGet(&attitudeActual);
+
+		// Pitch stabilization control loop
+		pitchError = bound(attitudeDesired.Pitch, -stabSettings.PitchMax, stabSettings.PitchMax) - attitudeActual.Pitch;
+		pitchDerivative = pitchError - pitchErrorLast;
+		pitchIntegralLimit = PITCH_INTEGRAL_LIMIT / stabSettings.PitchKi;
+		pitchIntegral = bound(pitchIntegral+pitchError*stabSettings.UpdatePeriod, -pitchIntegralLimit, pitchIntegralLimit);
+		actuatorDesired.Pitch = stabSettings.PitchKp*pitchError + stabSettings.PitchKi*pitchIntegral + stabSettings.PitchKd*pitchDerivative;
+		actuatorDesired.Pitch = bound(actuatorDesired.Pitch, -1.0, 1.0);
+		pitchErrorLast = pitchError;
+
+		// Roll stabilization control loop
+		rollError = bound(attitudeDesired.Roll, -stabSettings.RollMax, stabSettings.RollMax) - attitudeActual.Roll;
+		rollDerivative = rollError - rollErrorLast;
+		rollIntegralLimit = ROLL_INTEGRAL_LIMIT / stabSettings.RollKi;
+		rollIntegral = bound(rollIntegral+rollError*stabSettings.UpdatePeriod, -rollIntegralLimit, rollIntegralLimit);
+		actuatorDesired.Roll = stabSettings.RollKp*rollError + stabSettings.RollKi*rollIntegral + stabSettings.RollKd*rollDerivative;
+		actuatorDesired.Roll = bound(actuatorDesired.Roll, -1.0, 1.0);
+		rollErrorLast = rollError;
+
+		// Yaw stabilization control loop (only enabled on VTOL airframes)
+		if ( systemSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_VTOL )
+		{
+			yawError = attitudeDesired.Yaw - attitudeActual.Yaw;
+			yawDerivative = yawError - yawErrorLast;
+			yawIntegralLimit = YAW_INTEGRAL_LIMIT / stabSettings.YawKi;
+			yawIntegral = bound(yawIntegral+yawError*stabSettings.UpdatePeriod, -yawIntegralLimit, yawIntegralLimit);
+			actuatorDesired.Yaw = stabSettings.YawKp*yawError + stabSettings.YawKi*yawIntegral + stabSettings.YawKd*yawDerivative;;
+			actuatorDesired.Yaw = bound(actuatorDesired.Yaw, -1.0, 1.0);
+			yawErrorLast = yawError;
+		}
+		else
+		{
+			actuatorDesired.Yaw = 0.0;
+		}
+
+		// Setup throttle
+		actuatorDesired.Throttle = bound(attitudeDesired.Throttle, 0.0, stabSettings.ThrottleMax);
+
+		// Write actuator desired (if not in manual mode)
+		if ( manualControl.FlightMode != MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL )
+		{
+			ActuatorDesiredSet(&actuatorDesired);
+		}
+		else
+		{
+			pitchIntegral = 0.0;
+			rollIntegral = 0.0;
+			yawIntegral = 0.0;
+			pitchErrorLast = 0.0;
+			rollErrorLast = 0.0;
+			yawErrorLast = 0.0;
+		}
+
+		// Clear alarms
+		AlarmsClear(SYSTEMALARMS_ALARM_STABILIZATION);
+
+		// Wait until next update
+		vTaskDelayUntil(&lastSysTime, stabSettings.UpdatePeriod / portTICK_RATE_MS );
+	}
+}
+
+/**
+ * Bound input value between limits
+ */
+static float bound(float val, float min, float max)
+{
+	if ( val < min )
+	{
+		val = min;
+	}
+	else if ( val > max )
+	{
+		val = max;
+	}
+	return val;
+}

flight/OpenPilot.posix/Modules/System/inc/systemmod.h

@@ -0,0 +1,32 @@
+/**
+ ******************************************************************************
+ *
+ * @file       systemmod.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      System module
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef SYSTEMMOD_H
+#define SYSTEMMOD_H
+
+int32_t SystemModInitialize(void);
+
+#endif // SYSTEMMOD_H
+

flight/OpenPilot.posix/Modules/System/systemmod.c

@@ -0,0 +1,319 @@
+/**
+ ******************************************************************************
+ *
+ * @file       systemmod.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      System module
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+#include "systemmod.h"
+#include "objectpersistence.h"
+#include "systemstats.h"
+
+// Private constants
+#define SYSTEM_UPDATE_PERIOD_MS 1000
+#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 995998 // calibrated by running tests/test_cpuload.c
+											  // must be updated if the FreeRTOS or compiler
+											  // optimisation options are changed.
+#define STACK_SIZE configMINIMAL_STACK_SIZE
+#define TASK_PRIORITY (tskIDLE_PRIORITY+3)
+
+#define HEAP_LIMIT_WARNING 4000
+#define HEAP_LIMIT_CRITICAL 1000
+#define CPULOAD_LIMIT_WARNING 80
+#define CPULOAD_LIMIT_CRITICAL 95
+
+// Private types
+
+// Private variables
+static uint32_t idleCounter;
+static uint32_t idleCounterClear;
+static xTaskHandle systemTaskHandle;
+static int32_t stackOverflow;
+
+// Private functions
+static void objectUpdatedCb(UAVObjEvent* ev);
+static void updateStats();
+static void updateSystemAlarms();
+static void systemTask(void* parameters);
+
+/**
+ * Initialise the module, called on startup.
+ * \returns 0 on success or -1 if initialisation failed
+ */
+int32_t SystemModInitialize(void)
+{
+	// Initialize vars
+	stackOverflow = 0;
+	// Create system task
+	xTaskCreate(systemTask, (signed char*)"System", STACK_SIZE, NULL, TASK_PRIORITY, &systemTaskHandle);
+	return 0;
+}
+
+/**
+ * System task, periodically executes every SYSTEM_UPDATE_PERIOD_MS
+ */
+static void systemTask(void* parameters)
+{
+	portTickType lastSysTime;
+
+	// System initialization
+	OpenPilotInit();
+
+	// Initialize vars
+	idleCounter = 0;
+	idleCounterClear = 0;
+	lastSysTime = xTaskGetTickCount();
+
+	// Listen for SettingPersistance object updates, connect a callback function
+	ObjectPersistenceConnectCallback(&objectUpdatedCb);
+
+	// Main system loop
+	while (1)
+	{
+		// Update the system statistics
+		updateStats();
+
+		// Update the system alarms
+		updateSystemAlarms();
+
+		// Flash the heartbeat LED
+		PIOS_LED_Toggle(LED1);
+
+		// Turn on the error LED if an alarm is set
+		if ( AlarmsHasWarnings() )
+		{
+			PIOS_LED_On(LED2);
+		}
+		else
+		{
+			PIOS_LED_Off(LED2);
+		}
+
+		// Wait until next period
+		vTaskDelayUntil(&lastSysTime, SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS);
+	}
+}
+
+/**
+ * Function called in response to object updates
+ */
+static void objectUpdatedCb(UAVObjEvent* ev)
+{
+	ObjectPersistenceData objper;
+	UAVObjHandle obj;
+
+	// If the object updated was the ObjectPersistence execute requested action
+	if ( ev->obj == ObjectPersistenceHandle() )
+	{
+		// Get object data
+		ObjectPersistenceGet(&objper);
+
+		// Execute action
+		if ( objper.Operation == OBJECTPERSISTENCE_OPERATION_LOAD)
+		{
+			if ( objper.Selection == OBJECTPERSISTENCE_SELECTION_SINGLEOBJECT )
+			{
+				// Get selected object
+				obj = UAVObjGetByID(objper.ObjectID);
+				if ( obj == 0)
+				{
+					return;
+				}
+				// Load selected instance
+				UAVObjLoad(obj, objper.InstanceID);
+			}
+			else if ( objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLSETTINGS || objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS)
+			{
+				UAVObjLoadSettings();
+			}
+			else if ( objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLMETAOBJECTS || objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS)
+			{
+				UAVObjLoadMetaobjects();
+			}
+		}
+		else if ( objper.Operation == OBJECTPERSISTENCE_OPERATION_SAVE)
+		{
+			if ( objper.Selection == OBJECTPERSISTENCE_SELECTION_SINGLEOBJECT )
+			{
+				// Get selected object
+				obj = UAVObjGetByID(objper.ObjectID);
+				if ( obj == 0)
+				{
+					return;
+				}
+				// Save selected instance
+				UAVObjSave(obj, objper.InstanceID);
+			}
+			else if ( objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLSETTINGS || objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS)
+			{
+				UAVObjSaveSettings();
+			}
+			else if ( objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLMETAOBJECTS || objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS)
+			{
+				UAVObjSaveMetaobjects();
+			}
+		}
+		else if ( objper.Operation == OBJECTPERSISTENCE_OPERATION_DELETE)
+		{
+			if ( objper.Selection == OBJECTPERSISTENCE_SELECTION_SINGLEOBJECT )
+			{
+				// Get selected object
+				obj = UAVObjGetByID(objper.ObjectID);
+				if ( obj == 0)
+				{
+					return;
+				}
+				// Delete selected instance
+				UAVObjDelete(obj, objper.InstanceID);
+			}
+			else if ( objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLSETTINGS || objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS)
+			{
+				UAVObjDeleteSettings();
+			}
+			else if ( objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLMETAOBJECTS || objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS)
+			{
+				UAVObjDeleteMetaobjects();
+			}
+		}
+	}
+}
+
+/**
+ * Called periodically to update the system stats
+ */
+static void updateStats()
+{
+	SystemStatsData stats;
+
+	// Get stats and update
+	SystemStatsGet(&stats);
+	stats.FlightTime = xTaskGetTickCount()*portTICK_RATE_MS;
+#ifdef ARCH_POSIX
+	// POSIX port of FreeRTOS doesn't have xPortGetFreeHeapSize()
+	stats.HeapRemaining = 10240;
+#else
+	stats.HeapRemaining = xPortGetFreeHeapSize();
+#endif
+	stats.CPULoad = 100 - (uint8_t)round(100.0*((float)idleCounter/(float)(SYSTEM_UPDATE_PERIOD_MS/1000))/(float)IDLE_COUNTS_PER_SEC_AT_NO_LOAD);
+	idleCounterClear = 1;
+	SystemStatsSet(&stats);
+}
+
+/**
+ * Update system alarms
+ */
+static void updateSystemAlarms()
+{
+	SystemStatsData stats;
+	UAVObjStats objStats;
+	EventStats evStats;
+	SystemStatsGet(&stats);
+
+	// Check heap
+	if ( stats.HeapRemaining < HEAP_LIMIT_CRITICAL )
+	{
+		AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_CRITICAL);
+	}
+	else if ( stats.HeapRemaining < HEAP_LIMIT_WARNING )
+	{
+		AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_WARNING);
+	}
+	else
+	{
+		AlarmsClear(SYSTEMALARMS_ALARM_OUTOFMEMORY);
+	}
+
+	// Check CPU load
+	if ( stats.CPULoad > CPULOAD_LIMIT_CRITICAL )
+	{
+		AlarmsSet(SYSTEMALARMS_ALARM_CPUOVERLOAD, SYSTEMALARMS_ALARM_CRITICAL);
+	}
+	else if ( stats.CPULoad > CPULOAD_LIMIT_WARNING )
+	{
+		AlarmsSet(SYSTEMALARMS_ALARM_CPUOVERLOAD, SYSTEMALARMS_ALARM_WARNING);
+	}
+	else
+	{
+		AlarmsClear(SYSTEMALARMS_ALARM_CPUOVERLOAD);
+	}
+
+	// Check for stack overflow
+	if ( stackOverflow == 1 )
+	{
+		AlarmsSet(SYSTEMALARMS_ALARM_STACKOVERFLOW, SYSTEMALARMS_ALARM_CRITICAL);
+	}
+	else
+	{
+		AlarmsClear(SYSTEMALARMS_ALARM_STACKOVERFLOW);
+	}
+
+	// Check for SD card
+	if ( POIS_SDCARD_IsMounted() == 0 )
+	{
+		AlarmsSet(SYSTEMALARMS_ALARM_SDCARD, SYSTEMALARMS_ALARM_WARNING);
+	}
+	else
+	{
+		AlarmsClear(SYSTEMALARMS_ALARM_SDCARD);
+	}
+
+	// Check for event errors
+	UAVObjGetStats(&objStats);
+	EventGetStats(&evStats);
+	UAVObjClearStats();
+	EventClearStats();
+	if ( objStats.eventErrors > 0 || evStats.eventErrors > 0 )
+	{
+		AlarmsSet(SYSTEMALARMS_ALARM_EVENTSYSTEM, SYSTEMALARMS_ALARM_WARNING);
+	}
+	else
+	{
+		AlarmsClear(SYSTEMALARMS_ALARM_EVENTSYSTEM);
+	}
+}
+
+/**
+ * Called by the RTOS when the CPU is idle, used to measure the CPU idle time.
+ */
+void vApplicationIdleHook(void)
+{
+	// Called when the scheduler has no tasks to run
+	if (idleCounterClear == 0)
+	{
+		++idleCounter;
+	}
+	else
+	{
+		idleCounter = 0;
+		idleCounterClear = 0;
+	}
+}
+
+/**
+ * Called by the RTOS when a stack overflow is detected.
+ */
+void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName )
+{
+	stackOverflow = 1;
+}
+

flight/OpenPilot.posix/Modules/Telemetry/inc/telemetry.h

@@ -0,0 +1,34 @@
+/**
+ ******************************************************************************
+ *
+ * @file       telemetry.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Include file of the telemetry module.
+ * 	       As with all modules only the initialize function is exposed all other
+ * 	       interactions with the module take place through the event queue and
+ *             objects.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef TELEMETRY_H
+#define TELEMETRY_H
+
+int32_t TelemetryInitialize(void);
+
+#endif // TELEMETRY_H

flight/OpenPilot.posix/Modules/Telemetry/telemetry.c

@@ -0,0 +1,553 @@
+/**
+ ******************************************************************************
+ *
+ * @file       telemetry.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Telemetry module, handles telemetry and UAVObject updates
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+#include "flighttelemetrystats.h"
+#include "gcstelemetrystats.h"
+#include "telemetrysettings.h"
+
+// Set this to 1 to enable telemetry via the USB HID interface
+#define ALLOW_HID_TELEMETRY 0
+
+// Private constants
+#define MAX_QUEUE_SIZE 20
+#define STACK_SIZE configMINIMAL_STACK_SIZE
+#define TASK_PRIORITY_RX (tskIDLE_PRIORITY + 2)
+#define TASK_PRIORITY_TX (tskIDLE_PRIORITY + 2)
+#define TASK_PRIORITY_TXPRI (tskIDLE_PRIORITY + 2)
+#define REQ_TIMEOUT_MS 250
+#define MAX_RETRIES 2
+#define STATS_UPDATE_PERIOD_MS 4000
+#define CONNECTION_TIMEOUT_MS 8000
+
+// Private types
+
+// Private variables
+static uint8_t telemetryPort;
+static xQueueHandle queue;
+static xQueueHandle priorityQueue;
+static xTaskHandle telemetryTxTaskHandle;
+static xTaskHandle telemetryTxPriTaskHandle;
+static xTaskHandle telemetryRxTaskHandle;
+static uint32_t txErrors;
+static uint32_t txRetries;
+static TelemetrySettingsData settings;
+static uint32_t timeOfLastObjectUpdate;
+
+// Private functions
+static void telemetryTxTask(void* parameters);
+static void telemetryTxPriTask(void* parameters);
+static void telemetryRxTask(void* parameters);
+static int32_t transmitData(uint8_t* data, int32_t length);
+static void registerObject(UAVObjHandle obj);
+static void updateObject(UAVObjHandle obj);
+static int32_t addObject(UAVObjHandle obj);
+static int32_t setUpdatePeriod(UAVObjHandle obj, int32_t updatePeriodMs);
+static void processObjEvent(UAVObjEvent* ev);
+static void updateTelemetryStats();
+static void gcsTelemetryStatsUpdated();
+static void updateSettings();
+
+/**
+ * Initialise the telemetry module
+ * \return -1 if initialisation failed
+ * \return 0 on success
+ */
+int32_t TelemetryInitialize(void)
+{
+	UAVObjEvent ev;
+
+	// Initialize vars
+	timeOfLastObjectUpdate = 0;
+
+	// Create object queues
+	queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
+	priorityQueue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
+
+	// Get telemetry settings object
+	updateSettings();
+
+	// Initialise UAVTalk
+	UAVTalkInitialize(&transmitData);
+
+	// Process all registered objects and connect queue for updates
+	UAVObjIterate(&registerObject);
+
+	// Create periodic event that will be used to update the telemetry stats
+	txErrors = 0;
+	txRetries = 0;
+	memset(&ev, 0, sizeof(UAVObjEvent));
+	EventPeriodicQueueCreate(&ev, priorityQueue, STATS_UPDATE_PERIOD_MS);
+
+	// Listen to objects of interest
+	GCSTelemetryStatsConnectQueue(priorityQueue);
+	TelemetrySettingsConnectQueue(priorityQueue);
+
+	// Start telemetry tasks
+	xTaskCreate(telemetryTxTask, (signed char*)"TelTx", STACK_SIZE, NULL, TASK_PRIORITY_TX, &telemetryTxTaskHandle);
+	xTaskCreate(telemetryTxPriTask, (signed char*)"TelPriTx", STACK_SIZE, NULL, TASK_PRIORITY_TXPRI, &telemetryTxPriTaskHandle);
+	xTaskCreate(telemetryRxTask, (signed char*)"TelRx", STACK_SIZE, NULL, TASK_PRIORITY_RX, &telemetryRxTaskHandle);
+
+	return 0;
+}
+
+/**
+ * Register a new object, adds object to local list and connects the queue depending on the object's
+ * telemetry settings.
+ * \param[in] obj Object to connect
+ */
+static void registerObject(UAVObjHandle obj)
+{
+	// Setup object for periodic updates
+	addObject(obj);
+
+	// Setup object for telemetry updates
+	updateObject(obj);
+}
+
+/**
+ * Update object's queue connections and timer, depending on object's settings
+ * \param[in] obj Object to updates
+ */
+static void updateObject(UAVObjHandle obj)
+{
+	UAVObjMetadata metadata;
+	int32_t eventMask;
+
+	// Get metadata
+	UAVObjGetMetadata(obj, &metadata);
+
+	// Setup object depending on update mode
+	if(metadata.telemetryUpdateMode == UPDATEMODE_PERIODIC)
+	{
+		// Set update period
+		setUpdatePeriod(obj, metadata.telemetryUpdatePeriod);
+		// Connect queue
+		eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
+		if(UAVObjIsMetaobject(obj))
+		{
+			eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
+		}
+		UAVObjConnectQueue(obj, priorityQueue, eventMask);
+	}
+	else if(metadata.telemetryUpdateMode == UPDATEMODE_ONCHANGE)
+	{
+		// Set update period
+		setUpdatePeriod(obj, 0);
+		// Connect queue
+		eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
+		if(UAVObjIsMetaobject(obj))
+		{
+			eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
+		}
+		UAVObjConnectQueue(obj, priorityQueue, eventMask);
+	}
+	else if(metadata.telemetryUpdateMode == UPDATEMODE_MANUAL)
+	{
+		// Set update period
+		setUpdatePeriod(obj, 0);
+		// Connect queue
+		eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
+		if(UAVObjIsMetaobject(obj))
+		{
+			eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
+		}
+		UAVObjConnectQueue(obj, priorityQueue, eventMask);
+	}
+	else if(metadata.telemetryUpdateMode == UPDATEMODE_NEVER)
+	{
+		// Set update period
+		setUpdatePeriod(obj, 0);
+		// Disconnect queue
+		UAVObjDisconnectQueue(obj, priorityQueue);
+	}
+}
+
+/**
+ * Processes queue events
+ */
+static void processObjEvent(UAVObjEvent* ev)
+{
+	UAVObjMetadata metadata;
+	FlightTelemetryStatsData flightStats;
+	int32_t retries;
+	int32_t success;
+
+	if ( ev->obj == 0 )
+	{
+		updateTelemetryStats();
+	}
+	else if ( ev->obj == GCSTelemetryStatsHandle() )
+	{
+		gcsTelemetryStatsUpdated();
+	}
+	else if ( ev->obj == TelemetrySettingsHandle() )
+	{
+		updateSettings();
+	}
+	else
+	{
+		// Only process event if connected to GCS or if object FlightTelemetryStats is updated
+		FlightTelemetryStatsGet(&flightStats);
+		if ( flightStats.Status == FLIGHTTELEMETRYSTATS_STATUS_CONNECTED || ev->obj == FlightTelemetryStatsHandle() )
+		{
+			// Get object metadata
+			UAVObjGetMetadata(ev->obj, &metadata);
+			// Act on event
+			retries = 0;
+			success = -1;
+			if(ev->event == EV_UPDATED || ev->event == EV_UPDATED_MANUAL)
+			{
+				// Send update to GCS (with retries)
+				while(retries < MAX_RETRIES && success == -1)
+				{
+					success = UAVTalkSendObject(ev->obj, ev->instId, metadata.telemetryAcked, REQ_TIMEOUT_MS); // call blocks until ack is received or timeout
+					++retries;
+				}
+				// Update stats
+				txRetries += (retries-1);
+				if ( success == -1 )
+				{
+					++txErrors;
+				}
+			}
+			else if(ev->event == EV_UPDATE_REQ)
+			{
+				// Request object update from GCS (with retries)
+				while(retries < MAX_RETRIES && success == -1)
+				{
+					success = UAVTalkSendObjectRequest(ev->obj, ev->instId, REQ_TIMEOUT_MS); // call blocks until update is received or timeout
+					++retries;
+				}
+				// Update stats
+				txRetries += (retries-1);
+				if ( success == -1 )
+				{
+					++txErrors;
+				}
+			}
+			// If this is a metaobject then make necessary telemetry updates
+			if(UAVObjIsMetaobject(ev->obj))
+			{
+				updateObject(UAVObjGetLinkedObj(ev->obj)); // linked object will be the actual object the metadata are for
+			}
+		}
+	}
+}
+
+/**
+ * Telemetry transmit task, regular priority
+ */
+static void telemetryTxTask(void* parameters)
+{
+	UAVObjEvent ev;
+
+	// Loop forever
+	while(1)
+	{
+		// Wait for queue message
+		if(xQueueReceive(queue, &ev, portMAX_DELAY) == pdTRUE)
+		{
+			// Process event
+			processObjEvent(&ev);
+		}
+	}
+}
+
+/**
+ * Telemetry transmit task, high priority
+ */
+static void telemetryTxPriTask(void* parameters)
+{
+	UAVObjEvent ev;
+
+	// Loop forever
+	while(1)
+	{
+		// Wait for queue message
+		if(xQueueReceive(priorityQueue, &ev, portMAX_DELAY) == pdTRUE)
+		{
+			// Process event
+			processObjEvent(&ev);
+		}
+	}
+}
+
+/**
+ * Telemetry transmit task. Processes queue events and periodic updates.
+ */
+static void telemetryRxTask(void* parameters)
+{
+	uint8_t inputPort;
+	int32_t len;
+
+	// Task loop
+	while (1)
+	{
+#if ALLOW_HID_TELEMETRY
+		// Determine input port (USB takes priority over telemetry port)
+		if(PIOS_USB_HID_CheckAvailable())
+		{
+			inputPort = PIOS_COM_TELEM_USB;
+		}
+		else
+#endif /* ALLOW_HID_TELEMETRY */
+		{
+			inputPort = telemetryPort;
+		}
+
+		// Block until data are available
+		// TODO: Currently we periodically check the buffer for data, update once the PIOS_COM is made blocking
+		len = PIOS_COM_ReceiveBufferUsed(inputPort);
+		for (int32_t n = 0; n < len; ++n)
+		{
+			//PIOS_LED_Toggle(LED1);
+			UAVTalkProcessInputStream(PIOS_COM_ReceiveBuffer(inputPort));
+		}
+		vTaskDelay(5); // <- remove when blocking calls are implemented
+
+	}
+}
+
+/**
+ * Transmit data buffer to the modem or USB port.
+ * \param[in] data Data buffer to send
+ * \param[in] length Length of buffer
+ * \return 0 Success
+ */
+static int32_t transmitData(uint8_t* data, int32_t length)
+{
+	uint8_t outputPort;
+
+	// Determine input port (USB takes priority over telemetry port)
+#if ALLOW_HID_TELEMETRY
+	if(PIOS_USB_HID_CheckAvailable())
+	{
+		outputPort = COM_USB_HID;
+	}
+	else
+#endif /* ALLOW_HID_TELEMETRY */
+	{
+		outputPort = telemetryPort;
+	}
+
+	// TODO: Update once the PIOS_COM is made blocking (it is implemented as a busy loop for now!)
+	//PIOS_LED_Toggle(LED2);
+	return PIOS_COM_SendBuffer(outputPort, data, length);
+}
+
+/**
+ * Setup object for periodic updates.
+ * \param[in] obj The object to update
+ * \return 0 Success
+ * \return -1 Failure
+ */
+static int32_t addObject(UAVObjHandle obj)
+{
+	UAVObjEvent ev;
+
+	// Add object for periodic updates
+	ev.obj = obj;
+	ev.instId = UAVOBJ_ALL_INSTANCES;
+	ev.event = EV_UPDATED_MANUAL;
+	return EventPeriodicQueueCreate(&ev, queue, 0);
+}
+
+/**
+ * Set update period of object (it must be already setup for periodic updates)
+ * \param[in] obj The object to update
+ * \param[in] updatePeriodMs The update period in ms, if zero then periodic updates are disabled
+ * \return 0 Success
+ * \return -1 Failure
+ */
+static int32_t setUpdatePeriod(UAVObjHandle obj, int32_t updatePeriodMs)
+{
+	UAVObjEvent ev;
+
+	// Add object for periodic updates
+	ev.obj = obj;
+	ev.instId = UAVOBJ_ALL_INSTANCES;
+	ev.event = EV_UPDATED_MANUAL;
+	return EventPeriodicQueueUpdate(&ev, queue, updatePeriodMs);
+}
+
+/**
+ * Called each time the GCS telemetry stats object is updated.
+ * Trigger a flight telemetry stats update if a connection is not
+ * yet established.
+ */
+static void gcsTelemetryStatsUpdated()
+{
+	FlightTelemetryStatsData flightStats;
+	GCSTelemetryStatsData gcsStats;
+	FlightTelemetryStatsGet(&flightStats);
+	GCSTelemetryStatsGet(&gcsStats);
+	if ( flightStats.Status != FLIGHTTELEMETRYSTATS_STATUS_CONNECTED ||
+		 gcsStats.Status != GCSTELEMETRYSTATS_STATUS_CONNECTED )
+	{
+		updateTelemetryStats();
+	}
+}
+
+/**
+ * Update telemetry statistics and handle connection handshake
+ */
+static void updateTelemetryStats()
+{
+	UAVTalkStats utalkStats;
+	FlightTelemetryStatsData flightStats;
+	GCSTelemetryStatsData gcsStats;
+	uint8_t forceUpdate;
+	uint8_t connectionTimeout;
+	uint32_t timeNow;
+
+	// Get stats
+	UAVTalkGetStats(&utalkStats);
+	UAVTalkResetStats();
+
+	// Get object data
+	FlightTelemetryStatsGet(&flightStats);
+	GCSTelemetryStatsGet(&gcsStats);
+
+	// Update stats object
+	if ( flightStats.Status == FLIGHTTELEMETRYSTATS_STATUS_CONNECTED )
+	{
+		flightStats.RxDataRate = (float)utalkStats.rxBytes / ((float)STATS_UPDATE_PERIOD_MS/1000.0);
+		flightStats.TxDataRate = (float)utalkStats.txBytes / ((float)STATS_UPDATE_PERIOD_MS/1000.0);
+		flightStats.RxFailures += utalkStats.rxErrors;
+		flightStats.TxFailures += txErrors;
+		flightStats.TxRetries += txRetries;
+		txErrors = 0;
+		txRetries = 0;
+	}
+	else
+	{
+		flightStats.RxDataRate = 0;
+		flightStats.TxDataRate = 0;
+		flightStats.RxFailures = 0;
+		flightStats.TxFailures = 0;
+		flightStats.TxRetries = 0;
+		txErrors = 0;
+		txRetries = 0;
+	}
+
+	// Check for connection timeout
+	timeNow = xTaskGetTickCount()*portTICK_RATE_MS;
+	if ( utalkStats.rxObjects > 0 )
+	{
+		timeOfLastObjectUpdate = timeNow;
+	}
+	if ( (timeNow - timeOfLastObjectUpdate) > CONNECTION_TIMEOUT_MS )
+	{
+		connectionTimeout = 1;
+	}
+	else
+	{
+		connectionTimeout = 0;
+	}
+
+    // Update connection state
+	forceUpdate = 1;
+	if ( flightStats.Status == FLIGHTTELEMETRYSTATS_STATUS_DISCONNECTED )
+	{
+		// Wait for connection request
+		if ( gcsStats.Status == GCSTELEMETRYSTATS_STATUS_HANDSHAKEREQ  )
+		{
+			flightStats.Status = FLIGHTTELEMETRYSTATS_STATUS_HANDSHAKEACK;
+		}
+	}
+	else if ( flightStats.Status == FLIGHTTELEMETRYSTATS_STATUS_HANDSHAKEACK )
+	{
+		// Wait for connection
+		if ( gcsStats.Status == GCSTELEMETRYSTATS_STATUS_CONNECTED  )
+		{
+			flightStats.Status = FLIGHTTELEMETRYSTATS_STATUS_CONNECTED;
+		}
+		else if ( gcsStats.Status == GCSTELEMETRYSTATS_STATUS_DISCONNECTED )
+		{
+			flightStats.Status = FLIGHTTELEMETRYSTATS_STATUS_DISCONNECTED;
+		}
+	}
+	else if ( flightStats.Status == FLIGHTTELEMETRYSTATS_STATUS_CONNECTED )
+	{
+		if ( gcsStats.Status != GCSTELEMETRYSTATS_STATUS_CONNECTED || connectionTimeout )
+		{
+			flightStats.Status = FLIGHTTELEMETRYSTATS_STATUS_DISCONNECTED;
+		}
+		else
+		{
+			forceUpdate = 0;
+		}
+	}
+	else
+	{
+		flightStats.Status = FLIGHTTELEMETRYSTATS_STATUS_DISCONNECTED;
+	}
+
+	// Update the telemetry alarm
+	if ( flightStats.Status == FLIGHTTELEMETRYSTATS_STATUS_CONNECTED )
+	{
+		AlarmsClear(SYSTEMALARMS_ALARM_TELEMETRY);
+	}
+	else
+	{
+		AlarmsSet(SYSTEMALARMS_ALARM_TELEMETRY, SYSTEMALARMS_ALARM_ERROR);
+	}
+
+	// Update object
+	FlightTelemetryStatsSet(&flightStats);
+
+	// Force telemetry update if not connected
+	if ( forceUpdate )
+	{
+		FlightTelemetryStatsUpdated();
+	}
+}
+
+/**
+ * Update the telemetry settings, called on startup and
+ * each time the settings object is updated
+ */
+static void updateSettings()
+{
+	// Set port
+	telemetryPort = PIOS_COM_TELEM_RF;
+	// Retrieve settings
+	TelemetrySettingsGet(&settings);
+	// Set port speed
+	if (settings.Speed == TELEMETRYSETTINGS_SPEED_9600)
+	{
+		PIOS_COM_ChangeBaud(telemetryPort, 9600);
+	}
+	else if (settings.Speed == TELEMETRYSETTINGS_SPEED_57600)
+	{
+		PIOS_COM_ChangeBaud(telemetryPort, 57600);
+	}
+	else if (settings.Speed == TELEMETRYSETTINGS_SPEED_38400)
+	{
+		PIOS_COM_ChangeBaud(telemetryPort, 38400);
+	}
+}
+

flight/OpenPilot.posix/System/alarms.c

@@ -0,0 +1,180 @@
+/**
+ ******************************************************************************
+ *
+ * @file       alarms.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Library for setting and clearing system alarms
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+#include "alarms.h"
+
+// Private constants
+
+// Private types
+
+// Private variables
+static xSemaphoreHandle lock;
+
+// Private functions
+static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
+
+/**
+ * Initialize the alarms library
+ */
+int32_t AlarmsInitialize(void)
+{
+	lock = xSemaphoreCreateRecursiveMutex();
+	AlarmsClearAll();
+	return 0;
+}
+
+/**
+ * Set an alarm
+ * @param alarm The system alarm to be modified
+ * @param severity The alarm severity
+ * @return 0 if success, -1 if an error
+ */
+int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)
+{
+	SystemAlarmsData alarms;
+
+	// Check that this is a valid alarm
+	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
+	{
+		return -1;
+	}
+
+	// Lock
+    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
+
+    // Read alarm and update its severity only if it was changed
+    SystemAlarmsGet(&alarms);
+    if ( alarms.Alarm[alarm] != severity )
+    {
+    	alarms.Alarm[alarm] = severity;
+    	SystemAlarmsSet(&alarms);
+    	SystemAlarmsUpdated(); // force telemetry update since the alarm was changed
+    }
+
+    // Release lock
+    xSemaphoreGiveRecursive(lock);
+    return 0;
+
+}
+
+/**
+ * Get an alarm
+ * @param alarm The system alarm to be read
+ * @return Alarm severity
+ */
+SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
+{
+	SystemAlarmsData alarms;
+
+	// Check that this is a valid alarm
+	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
+	{
+		return 0;
+	}
+
+    // Read alarm
+    SystemAlarmsGet(&alarms);
+    return alarms.Alarm[alarm];
+}
+
+/**
+ * Clear an alarm
+ * @param alarm The system alarm to be modified
+ * @return 0 if success, -1 if an error
+ */
+int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
+{
+	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
+}
+
+/**
+ * Clear all alarms
+ */
+void AlarmsClearAll()
+{
+	uint32_t n;
+    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
+    {
+    	AlarmsClear(n);
+    }
+}
+
+/**
+ * Check if there are any alarms with the given or higher severity
+ * @return 0 if no alarms are found, 1 if at least one alarm is found
+ */
+int32_t AlarmsHasWarnings()
+{
+	return hasSeverity(SYSTEMALARMS_ALARM_WARNING);
+}
+
+/**
+ * Check if there are any alarms with error or higher severity
+ * @return 0 if no alarms are found, 1 if at least one alarm is found
+ */
+int32_t AlarmsHasErrors()
+{
+	return hasSeverity(SYSTEMALARMS_ALARM_ERROR);
+};
+
+/**
+ * Check if there are any alarms with critical or higher severity
+ * @return 0 if no alarms are found, 1 if at least one alarm is found
+ */
+int32_t AlarmsHasCritical()
+{
+	return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL);
+};
+
+/**
+ * Check if there are any alarms with the given or higher severity
+ * @return 0 if no alarms are found, 1 if at least one alarm is found
+ */
+static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
+{
+	SystemAlarmsData alarms;
+	uint32_t n;
+
+	// Lock
+    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
+
+    // Read alarms
+    SystemAlarmsGet(&alarms);
+
+    // Go through alarms and check if any are of the given severity or higher
+    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
+    {
+    	if ( alarms.Alarm[n] >= severity)
+    	{
+    		xSemaphoreGiveRecursive(lock);
+    		return 1;
+    	}
+    }
+
+    // If this point is reached then no alarms found
+    xSemaphoreGiveRecursive(lock);
+    return 0;
+}

flight/OpenPilot.posix/System/inc/alarms.h

@@ -0,0 +1,40 @@
+/**
+ ******************************************************************************
+ *
+ * @file       alarms.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Include file of the alarm library
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef ALARMS_H
+#define ALARMS_H
+
+#include "systemalarms.h"
+
+int32_t AlarmsInitialize(void);
+int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity);
+SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm);
+int32_t AlarmsClear(SystemAlarmsAlarmElem alarm);
+void AlarmsClearAll();
+int32_t AlarmsHasWarnings();
+int32_t AlarmsHasErrors();
+int32_t AlarmsHasCritical();
+
+#endif // ALARMS_H
+

flight/OpenPilot.posix/System/inc/op_config.h

@@ -0,0 +1,31 @@
+/**
+ ******************************************************************************
+ *
+ * @file       op_config.h  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      OpenPilot configuration header. 
+ *             Compile time config for OpenPilot Application
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+
+#ifndef OP_CONFIG_H
+#define OP_CONFIG_H
+
+#endif /* OP_CONFIG_H */

flight/OpenPilot.posix/System/inc/openpilot.h

@@ -0,0 +1,45 @@
+/**
+ ******************************************************************************
+ *
+ * @file       openpilot.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Main OpenPilot header.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+
+#ifndef OPENPILOT_H
+#define OPENPILOT_H
+
+
+/* PIOS Includes */
+#include <pios.h>
+
+/* OpenPilot Libraries */
+#include "op_config.h"
+#include "utlist.h"
+#include "uavobjectmanager.h"
+#include "eventdispatcher.h"
+#include "alarms.h"
+#include "uavtalk.h"
+
+/* Global Functions */
+void OpenPilotInit(void);
+
+#endif /* OPENPILOT_H */

flight/OpenPilot.posix/System/inc/pios_board.h

@@ -0,0 +1,369 @@
+/**
+ ******************************************************************************
+ *
+ * @file       pios_board.h   
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Defines board hardware for the OpenPilot Version 1.1 hardware.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+
+#ifndef PIOS_BOARD_H
+#define PIOS_BOARD_H
+
+
+
+//------------------------
+// Timers and Channels Used
+//------------------------
+/*
+Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
+------+-----------+-----------+-----------+----------
+TIM1  | RC In 3   | RC In 6   | RC In 5   |
+TIM2  | --------------- PIOS_DELAY -----------------
+TIM3  | RC In 7   | RC In 8   | RC In 1   | RC In 2
+TIM4  | Servo 1   | Servo 2   | Servo 3   | Servo 4
+TIM5  | RC In 4   |           |           |
+TIM6  | ----------- PIOS_PWM (Supervisor) ----------
+TIM7  |           |           |           |
+TIM8  | Servo 5   | Servo 6   | Servo 7   | Servo 8
+------+-----------+-----------+-----------+----------
+*/
+
+//------------------------
+// DMA Channels Used
+//------------------------
+/* Channel 1  - ADC				*/
+/* Channel 2  - SPI1 RX				*/
+/* Channel 3  - SPI1 TX				*/
+/* Channel 4  - SPI2 RX				*/
+/* Channel 5  - SPI2 TX				*/
+/* Channel 6  - 				*/
+/* Channel 7  - 				*/
+/* Channel 8  - 				*/
+/* Channel 9  - 				*/
+/* Channel 10 - 				*/
+/* Channel 11 - 				*/
+/* Channel 12 - 				*/
+
+//------------------------
+// PIOS_LED
+//------------------------
+#define PIOS_LED_LED1_GPIO_PORT			GPIOC
+#define PIOS_LED_LED1_GPIO_PIN			GPIO_Pin_12
+#define PIOS_LED_LED1_GPIO_CLK			RCC_APB2Periph_GPIOC
+#define PIOS_LED_LED2_GPIO_PORT			GPIOC
+#define PIOS_LED_LED2_GPIO_PIN			GPIO_Pin_13
+#define PIOS_LED_LED2_GPIO_CLK			RCC_APB2Periph_GPIOC
+#define PIOS_LED_NUM				2
+#define PIOS_LED_PORTS				{ PIOS_LED_LED1_GPIO_PORT, PIOS_LED_LED2_GPIO_PORT }
+#define PIOS_LED_PINS				{ PIOS_LED_LED1_GPIO_PIN, PIOS_LED_LED2_GPIO_PIN }
+#define PIOS_LED_CLKS				{ PIOS_LED_LED1_GPIO_CLK, PIOS_LED_LED2_GPIO_CLK }
+
+//------------------------
+// PIOS_I2C
+//------------------------
+#define PIOS_I2C_PORT				I2C2
+#define PIOS_I2C_CLK				RCC_APB1Periph_I2C2
+#define PIOS_I2C_GPIO_PORT			GPIOB
+#define PIOS_I2C_SDA_PIN			GPIO_Pin_11
+#define PIOS_I2C_SCL_PIN			GPIO_Pin_10
+#define PIOS_I2C_DUTY_CYCLE			I2C_DutyCycle_2
+#define PIOS_I2C_BUS_FREQ			400000	// bit/s
+#define PIOS_I2C_TIMEOUT_VALUE			50 	// ms
+#define PIOS_I2C_IRQ_EV_HANDLER			void I2C2_EV_IRQHandler(void)
+#define PIOS_I2C_IRQ_ER_HANDLER			void I2C2_ER_IRQHandler(void)
+#define PIOS_I2C_IRQ_EV_CHANNEL			I2C2_EV_IRQn
+#define PIOS_I2C_IRQ_ER_CHANNEL			I2C2_ER_IRQn
+#define PIOS_I2C_IRQ_EV_PRIORITY		PIOS_IRQ_PRIO_HIGH
+#define PIOS_I2C_IRQ_ER_PRIORITY		PIOS_IRQ_PRIO_HIGH
+
+//------------------------
+// PIOS_BMP085
+//------------------------
+#define PIOS_BMP085_EOC_GPIO_PORT		GPIOC
+#define PIOS_BMP085_EOC_GPIO_PIN		GPIO_Pin_15
+#define PIOS_BMP085_EOC_PORT_SOURCE		GPIO_PortSourceGPIOG
+#define PIOS_BMP085_EOC_PIN_SOURCE		GPIO_PinSource8
+#define PIOS_BMP085_EOC_CLK			RCC_APB2Periph_GPIOC
+#define PIOS_BMP085_EOC_EXTI_LINE		EXTI_Line15
+#define PIOS_BMP085_EOC_IRQn			EXTI15_10_IRQn
+#define PIOS_BMP085_EOC_PRIO			PIOS_IRQ_PRIO_HIGH
+#define PIOS_BMP085_OVERSAMPLING		2
+
+//-------------------------
+// USART
+//
+// See also pios_board.c
+//-------------------------
+#define PIOS_USART_RX_BUFFER_SIZE		1024
+#define PIOS_USART_TX_BUFFER_SIZE		256
+
+#define PIOS_COM_TELEM_RF                       0
+#define PIOS_COM_GPS                            1
+#define PIOS_COM_TELEM_USB                      2
+
+#ifdef PIOS_ENABLE_AUX_UART
+#define PIOS_COM_AUX                            3
+#define PIOS_COM_DEBUG                          PIOS_COM_AUX
+#endif
+
+//-------------------------
+// SPI
+//
+// See also pios_board.c
+//-------------------------
+#define PIOS_SDCARD_SPI				0
+#define PIOS_OPAHRS_SPI				1
+
+//-------------------------
+// Delay Timer
+//-------------------------
+#define PIOS_DELAY_TIMER			TIM2
+#define PIOS_DELAY_TIMER_RCC_FUNC		RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE)
+
+//-------------------------
+// System Settings
+//-------------------------
+#define PIOS_MASTER_CLOCK			72000000
+#define PIOS_PERIPHERAL_CLOCK			(PIOS_MASTER_CLOCK / 2)
+#if defined(USE_BOOTLOADER)
+#define PIOS_NVIC_VECTTAB_FLASH			((uint32_t)0x08006000)
+#else
+#define PIOS_NVIC_VECTTAB_FLASH			((uint32_t)0x08000000)
+#endif
+
+//-------------------------
+// Interrupt Priorities
+//-------------------------
+#define PIOS_IRQ_PRIO_LOW			12		// lower than RTOS
+#define PIOS_IRQ_PRIO_MID			8		// higher than RTOS
+#define PIOS_IRQ_PRIO_HIGH			5		// for SPI, ADC, I2C etc...
+#define PIOS_IRQ_PRIO_HIGHEST			4 		// for USART etc...
+
+//-------------------------
+// Receiver PWM inputs
+//-------------------------
+#define PIOS_PWM_CH1_GPIO_PORT			GPIOA
+#define PIOS_PWM_CH1_PIN			GPIO_Pin_9
+#define PIOS_PWM_CH1_TIM_PORT			TIM1
+#define PIOS_PWM_CH1_CH				TIM_Channel_2
+#define PIOS_PWM_CH1_CCR			TIM_IT_CC2
+#define PIOS_PWM_CH2_GPIO_PORT			GPIOA
+#define PIOS_PWM_CH2_PIN			GPIO_Pin_10
+#define PIOS_PWM_CH2_TIM_PORT			TIM1
+#define PIOS_PWM_CH2_CH				TIM_Channel_3
+#define PIOS_PWM_CH2_CCR			TIM_IT_CC3
+#define PIOS_PWM_CH3_GPIO_PORT			GPIOA
+#define PIOS_PWM_CH3_PIN			GPIO_Pin_0
+#define PIOS_PWM_CH3_TIM_PORT			TIM5
+#define PIOS_PWM_CH3_CH				TIM_Channel_1
+#define PIOS_PWM_CH3_CCR			TIM_IT_CC1
+#define PIOS_PWM_CH4_GPIO_PORT			GPIOA
+#define PIOS_PWM_CH4_PIN			GPIO_Pin_8
+#define PIOS_PWM_CH4_TIM_PORT			TIM1
+#define PIOS_PWM_CH4_CH				TIM_Channel_1
+#define PIOS_PWM_CH4_CCR			TIM_IT_CC1
+#define PIOS_PWM_CH5_GPIO_PORT			GPIOB
+#define PIOS_PWM_CH5_PIN			GPIO_Pin_1
+#define PIOS_PWM_CH5_TIM_PORT			TIM3
+#define PIOS_PWM_CH5_CH				TIM_Channel_4
+#define PIOS_PWM_CH5_CCR			TIM_IT_CC4
+#define PIOS_PWM_CH6_GPIO_PORT			GPIOB
+#define PIOS_PWM_CH6_PIN			GPIO_Pin_0
+#define PIOS_PWM_CH6_TIM_PORT			TIM3
+#define PIOS_PWM_CH6_CH				TIM_Channel_3
+#define PIOS_PWM_CH6_CCR			TIM_IT_CC3
+#define PIOS_PWM_CH7_GPIO_PORT			GPIOB
+#define PIOS_PWM_CH7_PIN			GPIO_Pin_4
+#define PIOS_PWM_CH7_TIM_PORT			TIM3
+#define PIOS_PWM_CH7_CH				TIM_Channel_1
+#define PIOS_PWM_CH7_CCR			TIM_IT_CC1
+#define PIOS_PWM_CH8_GPIO_PORT			GPIOB
+#define PIOS_PWM_CH8_PIN			GPIO_Pin_5
+#define PIOS_PWM_CH8_TIM_PORT			TIM3
+#define PIOS_PWM_CH8_CH				TIM_Channel_2
+#define PIOS_PWM_CH8_CCR			TIM_IT_CC2
+#define PIOS_PWM_GPIO_PORTS			{ PIOS_PWM_CH1_GPIO_PORT, PIOS_PWM_CH2_GPIO_PORT, PIOS_PWM_CH3_GPIO_PORT, PIOS_PWM_CH4_GPIO_PORT, PIOS_PWM_CH5_GPIO_PORT, PIOS_PWM_CH6_GPIO_PORT, PIOS_PWM_CH7_GPIO_PORT, PIOS_PWM_CH8_GPIO_PORT }
+#define PIOS_PWM_GPIO_PINS			{ PIOS_PWM_CH1_PIN, PIOS_PWM_CH2_PIN, PIOS_PWM_CH3_PIN, PIOS_PWM_CH4_PIN, PIOS_PWM_CH5_PIN, PIOS_PWM_CH6_PIN, PIOS_PWM_CH7_PIN, PIOS_PWM_CH8_PIN }
+#define PIOS_PWM_TIM_PORTS			{ PIOS_PWM_CH1_TIM_PORT, PIOS_PWM_CH2_TIM_PORT, PIOS_PWM_CH3_TIM_PORT, PIOS_PWM_CH4_TIM_PORT, PIOS_PWM_CH5_TIM_PORT, PIOS_PWM_CH6_TIM_PORT, PIOS_PWM_CH7_TIM_PORT, PIOS_PWM_CH8_TIM_PORT }
+#define PIOS_PWM_TIM_CHANNELS			{ PIOS_PWM_CH1_CH, PIOS_PWM_CH2_CH, PIOS_PWM_CH3_CH, PIOS_PWM_CH4_CH, PIOS_PWM_CH5_CH, PIOS_PWM_CH6_CH, PIOS_PWM_CH7_CH, PIOS_PWM_CH8_CH }
+#define PIOS_PWM_TIM_CCRS			{ PIOS_PWM_CH1_CCR, PIOS_PWM_CH2_CCR, PIOS_PWM_CH3_CCR, PIOS_PWM_CH4_CCR, PIOS_PWM_CH5_CCR, PIOS_PWM_CH6_CCR, PIOS_PWM_CH7_CCR, PIOS_PWM_CH8_CCR }
+#define PIOS_PWM_TIMS				{ TIM1, TIM3, TIM5 }
+#define PIOS_PWM_TIM_IRQS			{ TIM1_CC_IRQn, TIM3_IRQn, TIM5_IRQn }
+#define PIOS_PWM_NUM_INPUTS			8
+#define PIOS_PWM_NUM_TIMS			3
+#define PIOS_PWM_SUPV_ENABLED			1
+#define PIOS_PWM_SUPV_TIMER			TIM6
+#define PIOS_PWM_SUPV_TIMER_RCC_FUNC		RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE)
+#define PIOS_PWM_SUPV_HZ			25
+#define PIOS_PWM_SUPV_IRQ_CHANNEL		TIM6_IRQn
+#define PIOS_PWM_SUPV_IRQ_FUNC			void TIM6_IRQHandler(void)
+
+//-------------------------
+// Receiver PPM input
+//-------------------------
+#define PIOS_PPM_GPIO_PORT			PIOS_PWM_CH1_GPIO_PORT
+#define PIOS_PPM_GPIO_PIN			PIOS_PWM_CH1_PIN
+#define PIOS_PPM_TIM_PORT			PIOS_PWM_CH1_TIM_PORT
+#define PIOS_PPM_TIM_CHANNEL			PIOS_PWM_CH1_CH
+#define PIOS_PPM_TIM_CCR			PIOS_PWM_CH1_CCR
+#define PIOS_PPM_TIM				TIM1
+#define PIOS_PPM_TIM_IRQ			TIM1_CC_IRQn
+#define PIOS_PPM_NUM_INPUTS			8  //Could be more if needed
+#define PIOS_PPM_SUPV_ENABLED			1
+#define PIOS_PPM_SUPV_TIMER			TIM6
+#define PIOS_PPM_SUPV_TIMER_RCC_FUNC		RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE)
+#define PIOS_PPM_SUPV_HZ			25
+#define PIOS_PPM_SUPV_IRQ_CHANNEL		TIM6_IRQn
+#define PIOS_PPM_SUPV_IRQ_FUNC			void TIM6_IRQHandler(void)
+
+
+//-------------------------
+// Servo outputs   
+//-------------------------
+#define PIOS_SERVO_GPIO_PORT_1TO4		GPIOB
+#define PIOS_SERVO_GPIO_PIN_1			GPIO_Pin_6
+#define PIOS_SERVO_GPIO_PIN_2			GPIO_Pin_7
+#define PIOS_SERVO_GPIO_PIN_3			GPIO_Pin_8
+#define PIOS_SERVO_GPIO_PIN_4			GPIO_Pin_9
+#define PIOS_SERVO_GPIO_PORT_5TO8		GPIOC
+#define PIOS_SERVO_GPIO_PIN_5			GPIO_Pin_6
+#define PIOS_SERVO_GPIO_PIN_6			GPIO_Pin_7
+#define PIOS_SERVO_GPIO_PIN_7			GPIO_Pin_8
+#define PIOS_SERVO_GPIO_PIN_8			GPIO_Pin_9
+#define PIOS_SERVO_NUM_OUTPUTS			8
+#define PIOS_SERVO_NUM_TIMERS			PIOS_SERVO_NUM_OUTPUTS
+#define PIOS_SERVO_UPDATE_HZ			50
+#define PIOS_SERVOS_INITIAL_POSITION		1500
+
+//-------------------------
+// ADC
+// PIOS_ADC_PinGet(0) = Temperature Sensor (On-board)
+// PIOS_ADC_PinGet(1) = Power Sensor (Current)
+// PIOS_ADC_PinGet(2) = Power Sensor (Voltage)
+// PIOS_ADC_PinGet(3) = On-board 5v Rail Sensor
+// PIOS_ADC_PinGet(4) = Auxiliary Input 1
+// PIOS_ADC_PinGet(5) = Auxiliary Input 2
+// PIOS_ADC_PinGet(6) = Auxiliary Input 3
+//-------------------------
+//#define PIOS_ADC_OVERSAMPLING_RATE		1
+#define PIOS_ADC_USE_TEMP_SENSOR		1
+#define PIOS_ADC_TEMP_SENSOR_ADC		ADC1
+#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL	1
+#define PIOS_ADC_PIN1_GPIO_PORT			GPIOA			// PA1 (Power Sense - Voltage)
+#define PIOS_ADC_PIN1_GPIO_PIN			GPIO_Pin_1		// ADC123_IN1
+#define PIOS_ADC_PIN1_GPIO_CHANNEL		ADC_Channel_1
+#define PIOS_ADC_PIN1_ADC			ADC1
+#define PIOS_ADC_PIN1_ADC_NUMBER		2
+#define PIOS_ADC_PIN2_GPIO_PORT			GPIOC			// PC3 (Power Sense - Current)
+#define PIOS_ADC_PIN2_GPIO_PIN			GPIO_Pin_3		// ADC123_IN13
+#define PIOS_ADC_PIN2_GPIO_CHANNEL		ADC_Channel_13
+#define PIOS_ADC_PIN2_ADC			ADC2
+#define PIOS_ADC_PIN2_ADC_NUMBER		1
+#define PIOS_ADC_PIN3_GPIO_PORT			GPIOC			// PC5 (Onboard 5v Sensor) PC5
+#define PIOS_ADC_PIN3_GPIO_PIN			GPIO_Pin_5		// ADC12_IN15
+#define PIOS_ADC_PIN3_GPIO_CHANNEL		ADC_Channel_15
+#define PIOS_ADC_PIN3_ADC			ADC2
+#define PIOS_ADC_PIN3_ADC_NUMBER		2
+#define PIOS_ADC_PIN4_GPIO_PORT			GPIOC			// PC0 (AUX 1)
+#define PIOS_ADC_PIN4_GPIO_PIN			GPIO_Pin_0		// ADC123_IN10
+#define PIOS_ADC_PIN4_GPIO_CHANNEL		ADC_Channel_10
+#define PIOS_ADC_PIN4_ADC			ADC1
+#define PIOS_ADC_PIN4_ADC_NUMBER		3
+#define PIOS_ADC_PIN5_GPIO_PORT			GPIOC			// PC1 (AUX 2)
+#define PIOS_ADC_PIN5_GPIO_PIN			GPIO_Pin_1		// ADC123_IN11
+#define PIOS_ADC_PIN5_GPIO_CHANNEL		ADC_Channel_11
+#define PIOS_ADC_PIN5_ADC			ADC2
+#define PIOS_ADC_PIN5_ADC_NUMBER		3
+#define PIOS_ADC_PIN6_GPIO_PORT			GPIOC			// PC2 (AUX 3)
+#define PIOS_ADC_PIN6_GPIO_PIN			GPIO_Pin_2		// ADC123_IN12
+#define PIOS_ADC_PIN6_GPIO_CHANNEL		ADC_Channel_12
+#define PIOS_ADC_PIN6_ADC			ADC1
+#define PIOS_ADC_PIN6_ADC_NUMBER		4
+#define PIOS_ADC_NUM_PINS			6
+#define PIOS_ADC_PORTS				{ PIOS_ADC_PIN1_GPIO_PORT, PIOS_ADC_PIN2_GPIO_PORT, PIOS_ADC_PIN3_GPIO_PORT, PIOS_ADC_PIN4_GPIO_PORT, PIOS_ADC_PIN5_GPIO_PORT, PIOS_ADC_PIN6_GPIO_PORT }
+#define PIOS_ADC_PINS				{ PIOS_ADC_PIN1_GPIO_PIN, PIOS_ADC_PIN2_GPIO_PIN, PIOS_ADC_PIN3_GPIO_PIN, PIOS_ADC_PIN4_GPIO_PIN, PIOS_ADC_PIN5_GPIO_PIN, PIOS_ADC_PIN6_GPIO_PIN }
+#define PIOS_ADC_CHANNELS			{ PIOS_ADC_PIN1_GPIO_CHANNEL, PIOS_ADC_PIN2_GPIO_CHANNEL, PIOS_ADC_PIN3_GPIO_CHANNEL, PIOS_ADC_PIN4_GPIO_CHANNEL, PIOS_ADC_PIN5_GPIO_CHANNEL, PIOS_ADC_PIN6_GPIO_CHANNEL }
+#define PIOS_ADC_MAPPING			{ PIOS_ADC_PIN1_ADC, PIOS_ADC_PIN2_ADC, PIOS_ADC_PIN3_ADC, PIOS_ADC_PIN4_ADC, PIOS_ADC_PIN5_ADC, PIOS_ADC_PIN6_ADC }
+#define PIOS_ADC_CHANNEL_MAPPING		{ PIOS_ADC_PIN1_ADC_NUMBER, PIOS_ADC_PIN2_ADC_NUMBER, PIOS_ADC_PIN3_ADC_NUMBER, PIOS_ADC_PIN4_ADC_NUMBER, PIOS_ADC_PIN5_ADC_NUMBER, PIOS_ADC_PIN6_ADC_NUMBER }
+#define PIOS_ADC_NUM_CHANNELS			(PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR)
+#define PIOS_ADC_NUM_ADC_CHANNELS		2
+#define PIOS_ADC_USE_ADC2			1
+#define PIOS_ADC_CLOCK_FUNCTION			RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE)
+#define PIOS_ADC_ADCCLK				RCC_PCLK2_Div8
+						/* RCC_PCLK2_Div2: ADC clock = PCLK2/2 */
+						/* RCC_PCLK2_Div4: ADC clock = PCLK2/4 */
+						/* RCC_PCLK2_Div6: ADC clock = PCLK2/6 */
+						/* RCC_PCLK2_Div8: ADC clock = PCLK2/8 */
+#define PIOS_ADC_SAMPLE_TIME			ADC_SampleTime_239Cycles5
+						/* Sample time: */
+						/* With an ADCCLK = 14 MHz and a sampling time of 293.5 cycles: */
+						/* Tconv = 239.5 + 12.5 = 252 cycles = 18<31>s */
+						/* (1 / (ADCCLK / CYCLES)) = Sample Time (<28>S) */
+#define PIOS_ADC_IRQ_PRIO			PIOS_IRQ_PRIO_HIGH
+
+//-------------------------  
+// GPIO
+//-------------------------
+#define PIOS_GPIO_1_PORT			GPIOC
+#define PIOS_GPIO_1_PIN				GPIO_Pin_0
+#define PIOS_GPIO_1_GPIO_CLK			RCC_APB2Periph_GPIOC
+#define PIOS_GPIO_2_PORT			GPIOC
+#define PIOS_GPIO_2_PIN				GPIO_Pin_1
+#define PIOS_GPIO_2_GPIO_CLK			RCC_APB2Periph_GPIOC
+#define PIOS_GPIO_3_PORT			GPIOC
+#define PIOS_GPIO_3_PIN				GPIO_Pin_2
+#define PIOS_GPIO_3_GPIO_CLK			RCC_APB2Periph_GPIOC
+#define PIOS_GPIO_4_PORT			GPIOD
+#define PIOS_GPIO_4_PIN				GPIO_Pin_2
+#define PIOS_GPIO_4_GPIO_CLK			RCC_APB2Periph_GPIOD
+#define PIOS_GPIO_PORTS				{ PIOS_GPIO_1_PORT, PIOS_GPIO_2_PORT, PIOS_GPIO_3_PORT, PIOS_GPIO_4_PORT }
+#define PIOS_GPIO_PINS				{ PIOS_GPIO_1_PIN, PIOS_GPIO_2_PIN, PIOS_GPIO_3_PIN, PIOS_GPIO_4_PIN }
+#define PIOS_GPIO_CLKS				{ PIOS_GPIO_1_GPIO_CLK, PIOS_GPIO_2_GPIO_CLK, PIOS_GPIO_3_GPIO_CLK, PIOS_GPIO_4_GPIO_CLK }
+#define PIOS_GPIO_NUM				4
+
+//-------------------------
+// USB
+//-------------------------
+#define PIOS_USB_ENABLED			1
+#define PIOS_USB_DETECT_GPIO_PORT		GPIOC
+#define PIOS_USB_DETECT_GPIO_PIN		GPIO_Pin_4
+#define PIOS_USB_DETECT_EXTI_LINE		EXTI_Line4
+#define PIOS_IRQ_USB_PRIORITY			PIOS_IRQ_PRIO_MID
+
+/**
+ * glue macros for file IO
+ * STM32 uses DOSFS for file IO
+ */
+#define PIOS_FOPEN_READ(filename,file)	DFS_OpenFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, DFS_READ, PIOS_SDCARD_Sector, &file) != DFS_OK
+
+#define PIOS_FOPEN_WRITE(filename,file)	DFS_OpenFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, DFS_WRITE, PIOS_SDCARD_Sector, &file) != DFS_OK
+
+#define PIOS_FREAD(file,bufferadr,length,resultadr)	DFS_ReadFile(file, PIOS_SDCARD_Sector, (uint8_t*)bufferadr, resultadr, length) != DFS_OK	
+
+#define PIOS_FWRITE(file,bufferadr,length,resultadr)	DFS_WriteFile(file, PIOS_SDCARD_Sector, (uint8_t*)bufferadr, resultadr, length)
+
+#define PIOS_FCLOSE(file)		DFS_Close(&file)
+
+#define PIOS_FUNLINK(filename)		DFS_UnlinkFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, PIOS_SDCARD_Sector)
+
+
+
+#endif /* PIOS_BOARD_H */

flight/OpenPilot.posix/System/inc/pios_board_posix.h

@@ -0,0 +1,84 @@
+/**
+ ******************************************************************************
+ *
+ * @file       pios_board.h   
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Defines board hardware for the OpenPilot Version 1.1 hardware.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+
+#ifndef PIOS_BOARD_H
+#define PIOS_BOARD_H
+
+
+
+
+//------------------------
+// PIOS_LED
+//------------------------
+//#define PIOS_LED_LED1_GPIO_PORT			GPIOC
+//#define PIOS_LED_LED1_GPIO_PIN			GPIO_Pin_12
+//#define PIOS_LED_LED1_GPIO_CLK			RCC_APB2Periph_GPIOC
+//#define PIOS_LED_LED2_GPIO_PORT			GPIOC
+//#define PIOS_LED_LED2_GPIO_PIN			GPIO_Pin_13
+//#define PIOS_LED_LED2_GPIO_CLK			RCC_APB2Periph_GPIOC
+#define PIOS_LED_NUM				2
+//#define PIOS_LED_PORTS				{ PIOS_LED_LED1_GPIO_PORT, PIOS_LED_LED2_GPIO_PORT }
+//#define PIOS_LED_PINS				{ PIOS_LED_LED1_GPIO_PIN, PIOS_LED_LED2_GPIO_PIN }
+//#define PIOS_LED_CLKS				{ PIOS_LED_LED1_GPIO_CLK, PIOS_LED_LED2_GPIO_CLK }
+
+
+//-------------------------
+// COM
+//
+// See also pios_board_posix.c
+//-------------------------
+//#define PIOS_USART_TX_BUFFER_SIZE		256
+#define PIOS_COM_BUFFER_SIZE 1024
+#define PIOS_UDP_RX_BUFFER_SIZE		PIOS_COM_BUFFER_SIZE
+
+#define PIOS_COM_TELEM_RF                       0
+#define PIOS_COM_GPS                            1
+#define PIOS_COM_TELEM_USB                      2
+
+#ifdef PIOS_ENABLE_AUX_UART
+#define PIOS_COM_AUX                            3
+#define PIOS_COM_DEBUG                          PIOS_COM_AUX
+#endif
+
+/**
+ * glue macros for file IO
+ * STM32 uses DOSFS for file IO
+ */
+#define PIOS_FOPEN_READ(filename,file)	(file=fopen((char*)filename,"r"))==NULL
+
+#define PIOS_FOPEN_WRITE(filename,file)	(file=fopen((char*)filename,"w"))==NULL
+
+#define PIOS_FREAD(file,bufferadr,length,resultadr)	(*resultadr=fread((uint8_t*)bufferadr,1,length,*file)) != length
+
+#define PIOS_FWRITE(file,bufferadr,length,resultadr)	*resultadr=fwrite((uint8_t*)bufferadr,1,length,*file)
+
+
+
+#define PIOS_FCLOSE(file)		fclose(file)
+
+#define PIOS_FUNLINK(file)		unlink((char*)filename)
+
+#endif /* PIOS_BOARD_H */

flight/OpenPilot.posix/System/inc/pios_config.h

@@ -0,0 +1,73 @@
+/**
+ ******************************************************************************
+ *
+ * @file       pios_config.h  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      PiOS configuration header. 
+ *             Central compile time config for the project.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+
+#ifndef PIOS_CONFIG_H
+#define PIOS_CONFIG_H
+
+
+/* Enable/Disable PiOS Modules */
+#define PIOS_INCLUDE_ADC
+#define PIOS_INCLUDE_DELAY
+#define PIOS_INCLUDE_I2C
+#define PIOS_INCLUDE_IRQ
+#define PIOS_INCLUDE_LED
+//#define PIOS_INCLUDE_SPEKTRUM
+//#define PIOS_INCLUDE_PPM
+#define PIOS_INCLUDE_PWM
+#define PIOS_INCLUDE_SERVO
+#define PIOS_INCLUDE_SPI
+#define PIOS_INCLUDE_SYS
+#define PIOS_INCLUDE_USART
+//#define PIOS_INCLUDE_USB_COM
+#define PIOS_INCLUDE_USB_HID
+#define PIOS_INCLUDE_USB
+#define PIOS_INCLUDE_BMP085
+#define PIOS_INCLUDE_OPAHRS
+#define PIOS_INCLUDE_COM
+#define PIOS_INCLUDE_SDCARD
+#define PIOS_INCLUDE_SETTINGS
+#define PIOS_INCLUDE_FREERTOS
+#define PIOS_INCLUDE_GPIO
+#define PIOS_INCLUDE_EXTI
+
+
+/* Defaults for Logging */
+#define LOG_FILENAME 			"PIOS.LOG"
+#define STARTUP_LOG_ENABLED		1
+
+/* COM Module */
+#define GPS_BAUDRATE			19200
+#define TELEM_BAUDRATE			19200
+#define AUXUART_ENABLED			0
+#define AUXUART_BAUDRATE		19200
+
+/* Servos */
+#define SERVOS_POSITION_MIN		800
+#define SERVOS_POSITION_MAX		2200
+
+
+#endif /* PIOS_CONFIG_H */

flight/OpenPilot.posix/System/inc/pios_config_posix.h

@@ -0,0 +1,56 @@
+/**
+ ******************************************************************************
+ *
+ * @file       pios_config.h  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      PiOS configuration header. 
+ *             Central compile time config for the project.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+
+#ifndef PIOS_CONFIG_POSIX_H
+#define PIOS_CONFIG_POSIX_H
+
+
+/* Enable/Disable PiOS Modules */
+#define PIOS_INCLUDE_SYS
+#define PIOS_INCLUDE_DELAY
+#define PIOS_INCLUDE_LED
+#define PIOS_INCLUDE_SDCARD
+#define PIOS_INCLUDE_FREERTOS
+#define PIOS_INCLUDE_COM
+#define PIOS_INCLUDE_UDP
+
+/* Defaults for Logging */
+#define LOG_FILENAME 			"PIOS.LOG"
+#define STARTUP_LOG_ENABLED		1
+
+/* COM Module */
+#define GPS_BAUDRATE			19200
+#define TELEM_BAUDRATE			19200
+#define AUXUART_ENABLED			0
+#define AUXUART_BAUDRATE		19200
+
+/* Servos */
+#define SERVOS_POSITION_MIN		800
+#define SERVOS_POSITION_MAX		2200
+
+
+#endif /* PIOS_CONFIG_POSIX_H */

flight/OpenPilot.posix/System/openpilot.c

@@ -0,0 +1,325 @@
+/**
+ ******************************************************************************
+ *
+ * @file       openpilot.c 
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Sets up and runs main OpenPilot tasks.
+ * @see        The GNU Public License (GPL) Version 3
+ * 
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+
+/* OpenPilot Includes */
+#include "openpilot.h"
+#include "uavobjectsinit.h"
+#include "systemmod.h"
+
+
+/* Task Priorities */
+#define PRIORITY_TASK_HOOKS             (tskIDLE_PRIORITY + 3)
+
+/* Global Variables */
+
+/* Local Variables */
+#define INCLUDE_TEST_TASKS 0
+#if INCLUDE_TEST_TASKS
+static uint8_t sdcard_available;
+#endif
+FILEINFO File;
+char Buffer[1024];
+uint32_t Cache;
+
+/* Function Prototypes */
+#if INCLUDE_TEST_TASKS
+static void TaskTick(void *pvParameters);
+static void TaskTesting(void *pvParameters);
+static void TaskHIDTest(void *pvParameters);
+static void TaskServos(void *pvParameters);
+static void TaskSDCard(void *pvParameters);
+#endif
+int32_t CONSOLE_Parse(uint8_t port, char c);
+void OP_ADC_NotifyChange(uint32_t pin, uint32_t pin_value);
+
+/* Prototype of generated InitModules() function */
+extern void InitModules(void);
+
+/* Prototype of PIOS_Board_Init() function */
+extern void PIOS_Board_Init(void);
+
+/**
+* OpenPilot Main function
+*/
+int main()
+{
+	/* NOTE: Do NOT modify the following start-up sequence */
+	/* Any new initialization functions should be added in OpenPilotInit() */
+
+	/* Brings up System using CMSIS functions, enables the LEDs. */
+	PIOS_SYS_Init();
+
+	/* Initialize the system thread */
+	SystemModInitialize();
+
+	/* Start the FreeRTOS scheduler */
+	vTaskStartScheduler();
+
+	/* If all is well we will never reach here as the scheduler will now be running. */
+	/* If we do get here, it will most likely be because we ran out of heap space. */
+	PIOS_LED_Off(LED1);
+	PIOS_LED_Off(LED2);
+	for(;;) {
+		PIOS_LED_Toggle(LED1);
+		PIOS_LED_Toggle(LED2);
+		PIOS_DELAY_WaitmS(100);
+	}
+
+	return 0;
+}
+
+/**
+ * Initialize the hardware, libraries and modules (called by the System thread in systemmod.c)
+ */
+void OpenPilotInit()
+{
+
+	/* Architecture dependant Hardware and
+	 * core subsystem initialisation
+	 * (see pios_board.c for your arch)
+	 * */
+	PIOS_Board_Init();
+
+	/* Initialize modules */
+	InitModules();
+
+	/* Create test tasks */
+	//xTaskCreate(TaskTesting, (signed portCHAR *)"Testing", configMINIMAL_STACK_SIZE , NULL, 4, NULL);
+	//xTaskCreate(TaskHIDTest, (signed portCHAR *)"HIDTest", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
+	//xTaskCreate(TaskServos, (signed portCHAR *)"Servos", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
+	//xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL);
+}
+
+#if INCLUDE_TEST_TASKS
+static void TaskTesting(void *pvParameters)
+{
+	portTickType xDelay = 250 / portTICK_RATE_MS;
+	portTickType xTimeout = 10 / portTICK_RATE_MS;
+
+	//PIOS_BMP085_Init();
+
+	for(;;)
+	{
+		/* This blocks the task until the BMP085 EOC */
+		/*
+		PIOS_BMP085_StartADC(TemperatureConv);
+		xSemaphoreTake(PIOS_BMP085_EOC, xTimeout);
+		PIOS_BMP085_ReadADC();
+		PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u\r", PIOS_BMP085_GetTemperature());
+
+		PIOS_BMP085_StartADC(PressureConv);
+		xSemaphoreTake(PIOS_BMP085_EOC, xTimeout);
+		PIOS_BMP085_ReadADC();
+		PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u\r", PIOS_BMP085_GetPressure());
+		*/
+
+#if defined(PIOS_INCLUDE_SPEKTRUM)
+		PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u\r", PIOS_SPEKTRUM_Get(0), PIOS_SPEKTRUM_Get(1), PIOS_SPEKTRUM_Get(2), PIOS_SPEKTRUM_Get(3), PIOS_SPEKTRUM_Get(4), PIOS_SPEKTRUM_Get(5), PIOS_SPEKTRUM_Get(6), PIOS_SPEKTRUM_Get(7));
+#endif
+#if defined(PIOS_INCLUDE_PWM)
+		PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u uS\r", PIOS_PWM_Get(0), PIOS_PWM_Get(1), PIOS_PWM_Get(2), PIOS_PWM_Get(3), PIOS_PWM_Get(4), PIOS_PWM_Get(5), PIOS_PWM_Get(6), PIOS_PWM_Get(7));
+#endif
+#if defined(PIOS_INCLUDE_PPM)
+		PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u uS\r", PIOS_PPM_Get(0), PIOS_PPM_Get(1), PIOS_PPM_Get(2), PIOS_PPM_Get(3), PIOS_PPM_Get(4), PIOS_PPM_Get(5), PIOS_PPM_Get(6), PIOS_PPM_Get(7));
+#endif
+
+		/* This blocks the task until there is something on the buffer */
+		/*xSemaphoreTake(PIOS_USART1_Buffer, portMAX_DELAY);
+		int32_t len = PIOS_COM_ReceiveBufferUsed(COM_USART1);
+		for(int32_t i = 0; i < len; i++) {
+			PIOS_COM_SendFormattedString(COM_DEBUG_USART, ">%c\r", PIOS_COM_ReceiveBuffer(COM_USART1));
+		}*/
+
+		//int32_t state = PIOS_USB_CableConnected();
+		//PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "State: %d\r", state);
+
+		//PIOS_I2C_Transfer(I2C_Write_WithoutStop, 0x57, (uint8_t *)50, 1);
+
+		/* Test ADC pins */
+		//temp = ((1.43 - ((Vsense / 4096) * 3.3)) / 4.3) + 25;
+		//uint32_t vsense = PIOS_ADC_PinGet(0);
+		//uint32_t Temp = (1.42 -  vsense * 3.3 / 4096) * 1000 / 4.35 + 25;
+		//PIOS_COM_SendFormattedString(COM_DEBUG_USART, "Temp: %d, CS_I: %d, CS_V: %d, 5v: %d\r", PIOS_ADC_PinGet(0), PIOS_ADC_PinGet(1), PIOS_ADC_PinGet(2), PIOS_ADC_PinGet(3));
+		//PIOS_COM_SendFormattedString(COM_DEBUG_USART, "AUX1: %d, AUX2: %d, AUX3: %d\r", PIOS_ADC_PinGet(4), PIOS_ADC_PinGet(5), PIOS_ADC_PinGet(6));
+
+		vTaskDelay(xDelay);
+	}
+}
+#endif
+
+#if INCLUDE_TEST_TASKS
+static void TaskHIDTest(void *pvParameters)
+{
+	uint8_t byte;
+	uint8_t line_buffer[128];
+	uint16_t line_ix = 0;
+
+	for(;;)
+	{
+		/* HID Loopback Test */
+#if 0
+		if(PIOS_COM_ReceiveBufferUsed(COM_USB_HID) != 0) {
+			byte = PIOS_COM_ReceiveBuffer(COM_USB_HID);
+			if(byte == '\r' || byte == '\n' || byte == 0) {
+				PIOS_COM_SendFormattedString(COM_USB_HID, "RX: %s\r", line_buffer);
+				PIOS_COM_SendFormattedString(COM_DEBUG_USART, "RX: %s\r", line_buffer);
+				line_ix = 0;
+			} else if(line_ix < sizeof(line_buffer)) {
+				line_buffer[line_ix++] = byte;
+				line_buffer[line_ix] = 0;
+			}
+		}
+#endif
+
+		/* HID Loopback Test */
+		if(PIOS_COM_ReceiveBufferUsed(COM_USART2) != 0) {
+			byte = PIOS_COM_ReceiveBuffer(COM_USART2);
+#if 0
+			if(byte == '\r' || byte == '\n' || byte == 0) {
+				PIOS_COM_SendFormattedString(COM_DEBUG_USART, "RX: %s\r", line_buffer);
+				line_ix = 0;
+			} else if(line_ix < sizeof(line_buffer)) {
+				line_buffer[line_ix++] = byte;
+				line_buffer[line_ix] = 0;
+			}
+#endif
+			PIOS_COM_SendChar(COM_DEBUG_USART, (char)byte);
+		}
+	}
+}
+#endif
+
+#if INCLUDE_TEST_TASKS
+static void TaskServos(void *pvParameters)
+{
+	/* For testing servo outputs */
+	portTickType xDelay;
+
+	/* Used to test servos, cycles all servos from one side to the other */
+	for(;;) {
+		/*xDelay = 250 / portTICK_RATE_MS;
+		PIOS_Servo_Set(1, 2000);
+		vTaskDelay(xDelay);
+		PIOS_Servo_Set(2, 2000);
+		vTaskDelay(xDelay);
+		PIOS_Servo_Set(3, 2000);
+		vTaskDelay(xDelay);
+		PIOS_Servo_Set(4, 2000);
+		vTaskDelay(xDelay);
+		PIOS_Servo_Set(5, 2000);
+		vTaskDelay(xDelay);
+		PIOS_Servo_Set(6, 2000);
+		vTaskDelay(xDelay);
+		PIOS_Servo_Set(7, 2000);
+		vTaskDelay(xDelay);
+		PIOS_Servo_Set(8, 2000);
+		vTaskDelay(xDelay);
+
+		PIOS_Servo_Set(8, 1000);
+		vTaskDelay(xDelay);
+		PIOS_Servo_Set(7, 1000);
+		vTaskDelay(xDelay);
+		PIOS_Servo_Set(6, 1000);
+		vTaskDelay(xDelay);
+		PIOS_Servo_Set(5, 1000);
+		vTaskDelay(xDelay);
+		PIOS_Servo_Set(4, 1000);
+		vTaskDelay(xDelay);
+		PIOS_Servo_Set(3, 1000);
+		vTaskDelay(xDelay);
+		PIOS_Servo_Set(2, 1000);
+		vTaskDelay(xDelay);
+		PIOS_Servo_Set(1, 1000);
+		vTaskDelay(xDelay);*/
+
+		xDelay = 1 / portTICK_RATE_MS;
+		for(int i = 1000; i < 2000; i++) {
+			PIOS_Servo_Set(1, i);
+			PIOS_Servo_Set(2, i);
+			PIOS_Servo_Set(3, i);
+			PIOS_Servo_Set(4, i);
+			PIOS_Servo_Set(5, i);
+			PIOS_Servo_Set(6, i);
+			PIOS_Servo_Set(7, i);
+			PIOS_Servo_Set(8, i);
+			vTaskDelay(xDelay);
+		}
+		for(int i = 2000; i > 1000; i--) {
+			PIOS_Servo_Set(1, i);
+			PIOS_Servo_Set(2, i);
+			PIOS_Servo_Set(3, i);
+			PIOS_Servo_Set(4, i);
+			PIOS_Servo_Set(5, i);
+			PIOS_Servo_Set(6, i);
+			PIOS_Servo_Set(7, i);
+			PIOS_Servo_Set(8, i);
+			vTaskDelay(xDelay);
+		}
+	}
+}
+#endif
+
+#if INCLUDE_TEST_TASKS
+static void TaskSDCard(void *pvParameters)
+{
+	uint16_t second_delay_ctr = 0;
+	portTickType xLastExecutionTime;
+
+	/* Initialise the xLastExecutionTime variable on task entry */
+	xLastExecutionTime = xTaskGetTickCount();
+
+	for(;;) {
+		vTaskDelayUntil(&xLastExecutionTime, 1 / portTICK_RATE_MS);
+
+		/* Each second: */
+		/* Check if SD card is available */
+		/* High-speed access if SD card was previously available */
+		if(++second_delay_ctr >= 1000) {
+			second_delay_ctr = 0;
+
+			uint8_t prev_sdcard_available = sdcard_available;
+			sdcard_available = PIOS_SDCARD_CheckAvailable(prev_sdcard_available);
+
+			if(sdcard_available && !prev_sdcard_available) {
+				/* SD Card has been connected! */
+				/* Switch to mass storage device */
+				MSD_Init(0);
+			} else if(!sdcard_available && prev_sdcard_available) {
+				/* Re-init USB for HID */
+				PIOS_USB_Init(1);
+				/* SD Card disconnected! */
+			}
+		}
+
+		/* Each millisecond: */
+		/* Handle USB access if device is available */
+		if(sdcard_available) {
+			MSD_Periodic_mS();
+		}
+	}
+}
+#endif
+

flight/OpenPilot.posix/System/pios_board.c

@@ -0,0 +1,496 @@
+/**
+ ******************************************************************************
+ *
+ * @file       pios_board.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Defines board specific static initializers for hardware for the OpenPilot board.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include <pios.h>
+#include <pios_spi_priv.h>
+#include <pios_usart_priv.h>
+#include <pios_com_priv.h>
+#include <openpilot.h>
+#include <uavobjectsinit.h>
+
+/**
+ * PIOS_Board_Init()
+ * initializes all the core subsystems on this specific hardware
+ * called from System/openpilot.c
+ */
+void PIOS_Board_Init(void) {
+
+	/* Delay system */
+	PIOS_DELAY_Init();
+
+	/* SPI Init */
+	PIOS_SPI_Init();
+
+	/* Enable and mount the SDCard */
+	PIOS_SDCARD_Init();
+	PIOS_SDCARD_MountFS(0);
+
+	/* Initialize UAVObject libraries */
+	EventDispatcherInitialize();
+	UAVObjInitialize();
+	UAVObjectsInitializeAll();
+
+	/* Initialize the alarms library */
+	AlarmsInitialize();
+
+	/* Initialize the PiOS library */
+	PIOS_COM_Init();
+	PIOS_Servo_Init();
+	PIOS_ADC_Init();
+	PIOS_GPIO_Init();
+#if defined(PIOS_INCLUDE_SPEKTRUM)
+	PIOS_SPEKTRUM_Init();
+#endif
+#if defined(PIOS_INCLUDE_PWM)
+	PIOS_PWM_Init();
+#endif
+#if defined(PIOS_INCLUDE_PPM)
+	PIOS_PPM_Init();
+#endif
+	PIOS_USB_Init(0);
+	PIOS_I2C_Init();
+
+}
+
+/* MicroSD Interface
+ * 
+ * NOTE: Leave this declared as const static data so that it ends up in the 
+ * .rodata section (ie. Flash) rather than in the .bss section (RAM).
+ */
+void PIOS_SPI_sdcard_irq_handler(void);
+const struct pios_spi_cfg pios_spi_sdcard_cfg = {
+  .regs   = SPI1,
+  .init   = {
+    .SPI_Mode              = SPI_Mode_Master,
+    .SPI_Direction         = SPI_Direction_2Lines_FullDuplex,
+    .SPI_DataSize          = SPI_DataSize_8b,
+    .SPI_NSS               = SPI_NSS_Soft,
+    .SPI_FirstBit          = SPI_FirstBit_MSB,
+    .SPI_CRCPolynomial     = 7,
+    .SPI_CPOL              = SPI_CPOL_High,
+    .SPI_CPHA              = SPI_CPHA_2Edge,
+    .SPI_BaudRatePrescaler = 7 << 3, /* Maximum divider (ie. slowest clock rate) */
+  },
+  .dma = {
+    .ahb_clk  = RCC_AHBPeriph_DMA1,
+    
+    .irq = {
+      .handler = PIOS_SPI_sdcard_irq_handler,
+      .flags   = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2),
+      .init    = {
+	.NVIC_IRQChannel                   = DMA1_Channel2_IRQn,
+	.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
+	.NVIC_IRQChannelSubPriority        = 0,
+	.NVIC_IRQChannelCmd                = ENABLE,
+      },
+    },
+    
+    .rx = {
+      .channel = DMA1_Channel2,
+      .init    = {
+	.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
+	.DMA_DIR                = DMA_DIR_PeripheralSRC,
+	.DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
+	.DMA_MemoryInc          = DMA_MemoryInc_Enable,
+	.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
+	.DMA_MemoryDataSize     = DMA_MemoryDataSize_Byte,
+	.DMA_Mode               = DMA_Mode_Normal,
+	.DMA_Priority           = DMA_Priority_Medium,
+	.DMA_M2M                = DMA_M2M_Disable,
+      },
+    },
+    .tx = {
+      .channel = DMA1_Channel3,
+      .init    = {
+	.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
+	.DMA_DIR                = DMA_DIR_PeripheralDST,
+	.DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
+	.DMA_MemoryInc          = DMA_MemoryInc_Enable,
+	.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
+	.DMA_MemoryDataSize     = DMA_MemoryDataSize_Byte,
+	.DMA_Mode               = DMA_Mode_Normal,
+	.DMA_Priority           = DMA_Priority_Medium,
+	.DMA_M2M                = DMA_M2M_Disable,
+      },
+    },
+  },
+  .ssel = {
+    .gpio = GPIOA,
+    .init = {
+      .GPIO_Pin   = GPIO_Pin_4,
+      .GPIO_Speed = GPIO_Speed_50MHz,
+      .GPIO_Mode  = GPIO_Mode_Out_PP,
+    },
+  },
+  .sclk = {
+    .gpio = GPIOA,
+    .init = {
+      .GPIO_Pin   = GPIO_Pin_5,
+      .GPIO_Speed = GPIO_Speed_50MHz,
+      .GPIO_Mode  = GPIO_Mode_AF_PP,
+    },
+  },
+  .miso = {
+    .gpio = GPIOA,
+    .init = {
+      .GPIO_Pin   = GPIO_Pin_6,
+      .GPIO_Speed = GPIO_Speed_50MHz,
+      .GPIO_Mode  = GPIO_Mode_IPU,
+    },
+  },
+  .mosi = {
+    .gpio = GPIOA,
+    .init = {
+      .GPIO_Pin   = GPIO_Pin_7,
+      .GPIO_Speed = GPIO_Speed_50MHz,
+      .GPIO_Mode  = GPIO_Mode_AF_PP,
+    },
+  },
+};
+
+/* AHRS Interface
+ * 
+ * NOTE: Leave this declared as const static data so that it ends up in the 
+ * .rodata section (ie. Flash) rather than in the .bss section (RAM).
+ */
+void PIOS_SPI_ahrs_irq_handler(void);
+const struct pios_spi_cfg pios_spi_ahrs_cfg = {
+  .regs   = SPI2,
+  .init   = {
+    .SPI_Mode              = SPI_Mode_Master,
+    .SPI_Direction         = SPI_Direction_2Lines_FullDuplex,
+    .SPI_DataSize          = SPI_DataSize_8b,
+    .SPI_NSS               = SPI_NSS_Soft,
+    .SPI_FirstBit          = SPI_FirstBit_MSB,
+    .SPI_CRCPolynomial     = 7,
+    .SPI_CPOL              = SPI_CPOL_High,
+    .SPI_CPHA              = SPI_CPHA_2Edge,
+    .SPI_BaudRatePrescaler = 7 << 3, /* Maximum divider (ie. slowest clock rate) */
+  },
+  .dma = {
+    .ahb_clk  = RCC_AHBPeriph_DMA1,
+    
+    .irq = {
+      .handler = PIOS_SPI_ahrs_irq_handler,
+      .flags   = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
+      .init    = {
+	.NVIC_IRQChannel                   = DMA1_Channel4_IRQn,
+	.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
+	.NVIC_IRQChannelSubPriority        = 0,
+	.NVIC_IRQChannelCmd                = ENABLE,
+      },
+    },
+
+    .rx = {
+      .channel = DMA1_Channel4,
+      .init    = {
+	.DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->DR),
+	.DMA_DIR                = DMA_DIR_PeripheralSRC,
+	.DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
+	.DMA_MemoryInc          = DMA_MemoryInc_Enable,
+	.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
+	.DMA_MemoryDataSize     = DMA_MemoryDataSize_Byte,
+	.DMA_Mode               = DMA_Mode_Normal,
+	.DMA_Priority           = DMA_Priority_Medium,
+	.DMA_M2M                = DMA_M2M_Disable,
+      },
+    },
+    .tx = {
+      .channel = DMA1_Channel5,
+      .init    = {
+	.DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->DR),
+	.DMA_DIR                = DMA_DIR_PeripheralDST,
+	.DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
+	.DMA_MemoryInc          = DMA_MemoryInc_Enable,
+	.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
+	.DMA_MemoryDataSize     = DMA_MemoryDataSize_Byte,
+	.DMA_Mode               = DMA_Mode_Normal,
+	.DMA_Priority           = DMA_Priority_Medium,
+	.DMA_M2M                = DMA_M2M_Disable,
+      },
+    },
+  },
+  .ssel = {
+    .gpio = GPIOB,
+    .init = {
+      .GPIO_Pin   = GPIO_Pin_12,
+      .GPIO_Speed = GPIO_Speed_50MHz,
+      .GPIO_Mode  = GPIO_Mode_Out_PP,
+    },
+  },
+  .sclk = {
+    .gpio = GPIOB,
+    .init = {
+      .GPIO_Pin   = GPIO_Pin_13,
+      .GPIO_Speed = GPIO_Speed_50MHz,
+      .GPIO_Mode  = GPIO_Mode_AF_PP,
+    },
+  },
+  .miso = {
+    .gpio = GPIOB,
+    .init = {
+      .GPIO_Pin   = GPIO_Pin_14,
+      .GPIO_Speed = GPIO_Speed_50MHz,
+      .GPIO_Mode  = GPIO_Mode_IPU,
+    },
+  },
+  .mosi = {
+    .gpio = GPIOB,
+    .init = {
+      .GPIO_Pin   = GPIO_Pin_15,
+      .GPIO_Speed = GPIO_Speed_50MHz,
+      .GPIO_Mode  = GPIO_Mode_AF_PP,
+    },
+  },
+};
+
+/*
+ * Board specific number of devices.
+ */
+struct pios_spi_dev pios_spi_devs[] = {
+  {
+    .cfg = &pios_spi_sdcard_cfg,
+  },
+  {
+    .cfg = &pios_spi_ahrs_cfg,
+  },
+};
+
+uint8_t pios_spi_num_devices = NELEMENTS(pios_spi_devs);
+
+void PIOS_SPI_sdcard_irq_handler(void)
+{
+  /* Call into the generic code to handle the IRQ for this specific device */
+  PIOS_SPI_IRQ_Handler(PIOS_SDCARD_SPI);
+}
+
+void PIOS_SPI_ahrs_irq_handler(void)
+{
+  /* Call into the generic code to handle the IRQ for this specific device */
+  PIOS_SPI_IRQ_Handler(PIOS_OPAHRS_SPI);
+}
+
+/*
+ * Telemetry USART
+ */
+void PIOS_USART_telem_irq_handler(void);
+void USART2_IRQHandler() __attribute__ ((alias ("PIOS_USART_telem_irq_handler")));
+const struct pios_usart_cfg pios_usart_telem_cfg = {
+  .regs  = USART2,
+  .init = {
+    .USART_BaudRate            = 57600,
+    .USART_WordLength          = USART_WordLength_8b,
+    .USART_Parity              = USART_Parity_No,
+    .USART_StopBits            = USART_StopBits_1,
+    .USART_HardwareFlowControl = USART_HardwareFlowControl_None,
+    .USART_Mode                = USART_Mode_Rx | USART_Mode_Tx,
+  },
+  .irq = {
+    .handler = PIOS_USART_telem_irq_handler,
+    .init    = {
+      .NVIC_IRQChannel                   = USART2_IRQn,
+      .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
+      .NVIC_IRQChannelSubPriority        = 0,
+      .NVIC_IRQChannelCmd                = ENABLE,
+    },
+  },
+  .rx   = {
+    .gpio = GPIOA,
+    .init = {
+      .GPIO_Pin   = GPIO_Pin_3,
+      .GPIO_Speed = GPIO_Speed_2MHz,
+      .GPIO_Mode  = GPIO_Mode_IPU,
+    },
+  },
+  .tx   = {
+    .gpio = GPIOA,
+    .init = {
+      .GPIO_Pin   = GPIO_Pin_2,
+      .GPIO_Speed = GPIO_Speed_2MHz,
+      .GPIO_Mode  = GPIO_Mode_AF_PP,
+    },
+  },
+};
+
+/*
+ * GPS USART
+ */
+void PIOS_USART_gps_irq_handler(void);
+void USART3_IRQHandler() __attribute__ ((alias ("PIOS_USART_gps_irq_handler")));
+const struct pios_usart_cfg pios_usart_gps_cfg = {
+  .regs = USART3,
+  .remap = GPIO_PartialRemap_USART3,
+  .init = {
+    .USART_BaudRate            = 57600,
+    .USART_WordLength          = USART_WordLength_8b,
+    .USART_Parity              = USART_Parity_No,
+    .USART_StopBits            = USART_StopBits_1,
+    .USART_HardwareFlowControl = USART_HardwareFlowControl_None,
+    .USART_Mode                = USART_Mode_Rx | USART_Mode_Tx,
+  },
+  .irq = {
+    .handler = PIOS_USART_gps_irq_handler,
+    .init    = {
+      .NVIC_IRQChannel                   = USART3_IRQn,
+      .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
+      .NVIC_IRQChannelSubPriority        = 0,
+      .NVIC_IRQChannelCmd                = ENABLE,
+    },
+  },
+  .rx   = {
+    .gpio = GPIOC,
+    .init = {
+      .GPIO_Pin   = GPIO_Pin_11,
+      .GPIO_Speed = GPIO_Speed_2MHz,
+      .GPIO_Mode  = GPIO_Mode_IPU,
+    },
+  },
+  .tx   = {
+    .gpio = GPIOC,
+    .init = {
+      .GPIO_Pin   = GPIO_Pin_10,
+      .GPIO_Speed = GPIO_Speed_2MHz,
+      .GPIO_Mode  = GPIO_Mode_AF_PP,
+    },
+  },
+};
+
+#ifdef PIOS_COM_AUX
+/*
+ * AUX USART
+ */
+void PIOS_USART_aux_irq_handler(void);
+void USART1_IRQHandler() __attribute__ ((alias ("PIOS_USART_aux_irq_handler")));
+const struct pios_usart_cfg pios_usart_aux_cfg = {
+  .regs = USART1,
+  .init = {
+    .USART_BaudRate            = 57600,
+    .USART_WordLength          = USART_WordLength_8b,
+    .USART_Parity              = USART_Parity_No,
+    .USART_StopBits            = USART_StopBits_1,
+    .USART_HardwareFlowControl = USART_HardwareFlowControl_None,
+    .USART_Mode                = USART_Mode_Rx | USART_Mode_Tx,
+  },
+  .irq = {
+    .handler = PIOS_USART_aux_irq_handler,
+    .init    = {
+      .NVIC_IRQChannel                   = USART1_IRQn,
+      .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
+      .NVIC_IRQChannelSubPriority        = 0,
+      .NVIC_IRQChannelCmd                = ENABLE,
+    },
+  },
+  .remap = GPIO_Remap_USART1,
+  .rx   = {
+    .gpio = GPIOB,
+    .init = {
+      .GPIO_Pin   = GPIO_Pin_7,
+      .GPIO_Speed = GPIO_Speed_2MHz,
+      .GPIO_Mode  = GPIO_Mode_IPU,
+    },
+  },
+  .tx   = {
+    .gpio = GPIOB,
+    .init = {
+      .GPIO_Pin   = GPIO_Pin_6,
+      .GPIO_Speed = GPIO_Speed_2MHz,
+      .GPIO_Mode  = GPIO_Mode_AF_PP,
+    },
+  },
+};
+#endif
+
+/*
+ * Board specific number of devices.
+ */
+struct pios_usart_dev pios_usart_devs[] = {
+#define PIOS_USART_TELEM  0
+  {
+    .cfg = &pios_usart_telem_cfg,
+  },
+#define PIOS_USART_GPS    1
+  {
+    .cfg = &pios_usart_gps_cfg,
+  },
+#ifdef PIOS_COM_AUX
+#define PIOS_USART_AUX    2
+  {
+    .cfg = &pios_usart_aux_cfg,
+  },
+#endif
+};
+
+uint8_t pios_usart_num_devices = NELEMENTS(pios_usart_devs);
+
+void PIOS_USART_telem_irq_handler(void)
+{
+  PIOS_USART_IRQ_Handler(PIOS_USART_TELEM);
+}
+
+void PIOS_USART_gps_irq_handler(void)
+{
+  PIOS_USART_IRQ_Handler(PIOS_USART_GPS);
+}
+
+#ifdef PIOS_COM_AUX
+void PIOS_USART_aux_irq_handler(void)
+{
+  PIOS_USART_IRQ_Handler(PIOS_USART_AUX);
+}
+#endif
+
+/*
+ * COM devices
+ */
+
+/*
+ * Board specific number of devices.
+ */
+extern const struct pios_com_driver pios_usart_com_driver;
+extern const struct pios_com_driver pios_usb_com_driver;
+
+struct pios_com_dev pios_com_devs[] = {
+  {
+    .id     = PIOS_USART_TELEM,
+    .driver = &pios_usart_com_driver,
+  },
+  {
+    .id     = PIOS_USART_GPS,
+    .driver = &pios_usart_com_driver,
+  },
+  {
+    .id     = 0,
+    .driver = &pios_usb_com_driver,
+  },
+#ifdef PIOS_COM_AUX
+  {
+    .id     = PIOS_USART_AUX,
+    .driver = &pios_usart_com_driver,
+  },
+#endif
+};
+
+const uint8_t pios_com_num_devices = NELEMENTS(pios_com_devs);
+

flight/OpenPilot.posix/System/pios_board_posix.c

@@ -0,0 +1,137 @@
+/**
+ ******************************************************************************
+ *
+ * @file       pios_board.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Defines board specific static initializers for hardware for the OpenPilot board.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include <pios.h>
+#include <pios_udp_priv.h>
+#include <pios_com_priv.h>
+#include <openpilot.h>
+#include <uavobjectsinit.h>
+
+/**
+ * PIOS_Board_Init()
+ * initializes all the core systems on this specific hardware
+ * called from System/openpilot.c
+ */
+void PIOS_Board_Init(void) {
+
+	/* Delay system */
+	PIOS_DELAY_Init();
+
+	/* Initialize UAVObject libraries */
+	EventDispatcherInitialize();
+	UAVObjInitialize();
+	UAVObjectsInitializeAll();
+
+	/* Initialize the alarms library */
+	AlarmsInitialize();
+
+	/* Initialize the PiOS library */
+	PIOS_COM_Init();
+
+}
+
+
+const struct pios_udp_cfg pios_udp0_cfg = {
+  .ip = "0.0.0.0",
+  .port = 9000,
+};
+const struct pios_udp_cfg pios_udp1_cfg = {
+  .ip = "0.0.0.0",
+  .port = 9001,
+};
+const struct pios_udp_cfg pios_udp2_cfg = {
+  .ip = "0.0.0.0",
+  .port = 9002,
+};
+
+#ifdef PIOS_COM_AUX
+/*
+ * AUX USART
+ */
+const struct pios_udp_cfg pios_udp3_cfg = {
+  .ip = "0.0.0.0",
+  .port = 9003,
+};
+#endif
+
+/*
+ * Board specific number of devices.
+ */
+struct pios_udp_dev pios_udp_devs[] = {
+#define PIOS_UDP_TELEM  0
+  {
+    .cfg = &pios_udp0_cfg,
+  },
+#define PIOS_UDP_GPS    1
+  {
+    .cfg = &pios_udp1_cfg,
+  },
+#define PIOS_UDP_LOCAL    2
+  {
+    .cfg = &pios_udp2_cfg,
+  },
+#ifdef PIOS_COM_AUX
+#define PIOS_UDP_AUX    3
+  {
+    .cfg = &pios_udp3_cfg,
+  },
+#endif
+};
+
+uint8_t pios_udp_num_devices = NELEMENTS(pios_udp_devs);
+
+/*
+ * COM devices
+ */
+
+/*
+ * Board specific number of devices.
+ */
+extern const struct pios_com_driver pios_serial_com_driver;
+extern const struct pios_com_driver pios_udp_com_driver;
+
+struct pios_com_dev pios_com_devs[] = {
+  {
+    .id     = PIOS_UDP_TELEM,
+    .driver = &pios_udp_com_driver,
+  },
+  {
+    .id     = PIOS_UDP_GPS,
+    .driver = &pios_udp_com_driver,
+  },
+  {
+    .id     = PIOS_UDP_LOCAL,
+    .driver = &pios_udp_com_driver,
+  },
+#ifdef PIOS_COM_AUX
+  {
+    .id     = PIOS_UDP_AUX,
+    .driver = &pios_udp_com_driver,
+  },
+#endif
+};
+
+const uint8_t pios_com_num_devices = NELEMENTS(pios_com_devs);
+

flight/OpenPilot.posix/Tests/test_BMP085.c

@@ -0,0 +1,100 @@
+/**
+ ******************************************************************************
+ *
+ * @file       openpilot.c 
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Sets up and runs main OpenPilot tasks.
+ * @see        The GNU Public License (GPL) Version 3
+ * 
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+
+/* OpenPilot Includes */
+#include "openpilot.h"
+
+/* Task Priorities */
+
+/* Global Variables */
+
+/* Local Variables */
+
+/* Function Prototypes */
+static void TaskTesting(void *pvParameters);
+
+/**
+* Test Main function
+*/
+int main()
+{
+	// Init
+	PIOS_SYS_Init();
+	PIOS_DELAY_Init();
+	PIOS_COM_Init();
+	PIOS_ADC_Init();
+	PIOS_I2C_Init();
+	xTaskCreate(TaskTesting, (signed portCHAR *)"Test", configMINIMAL_STACK_SIZE , NULL, 1, NULL);
+
+	// Start the FreeRTOS scheduler
+	vTaskStartScheduler();
+
+	// Should not get here
+	PIOS_DEBUG_Assert(0);
+
+	return 0;
+}
+
+static void TaskTesting(void *pvParameters)
+{
+	portTickType xDelay = 500 / portTICK_RATE_MS;
+	portTickType xTimeout = 10 / portTICK_RATE_MS;
+
+	PIOS_BMP085_Init();
+
+	for(;;)
+	{
+		PIOS_LED_Toggle(LED2);
+
+		int16_t temp;
+		int32_t pressure;
+
+		PIOS_BMP085_StartADC(TemperatureConv);
+		xSemaphoreTake(PIOS_BMP085_EOC, xTimeout);
+		PIOS_BMP085_ReadADC();
+
+		PIOS_BMP085_StartADC(PressureConv);
+		xSemaphoreTake(PIOS_BMP085_EOC, xTimeout);
+		PIOS_BMP085_ReadADC();
+
+		temp = PIOS_BMP085_GetTemperature();
+		pressure = PIOS_BMP085_GetPressure();
+
+		PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%3u,%4u\r", temp, pressure);
+
+		vTaskDelay(xDelay);
+	}
+}
+
+/**
+* Idle hook function
+*/
+void vApplicationIdleHook(void)
+{
+	/* Called when the scheduler has no tasks to run */
+
+
+}

flight/OpenPilot.posix/Tests/test_common.c

@@ -0,0 +1,37 @@
+/**
+ ******************************************************************************
+ *
+ * @file       test_common.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Sets up ans runs main OpenPilot tasks.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+/* OpenPilot Includes */
+#include "openpilot.h"
+
+/**
+ * Called by the RTOS when a stack overflow is detected.
+ */
+void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName )
+{
+	PIOS_DEBUG_Panic("STACK OVERFLOW");
+}
+
+

flight/OpenPilot.posix/Tests/test_cpuload.c

@@ -0,0 +1,89 @@
+/**
+ ******************************************************************************
+ *
+ * @file       test_cpuload.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Calibration for the CPU load calculation
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+/**
+ * This file is used to calculate the number of counts we get when
+ * the CPU is fully idle (no load). This is used by systemmod.c to
+ * calculate the CPU load. This calibration should be run whenever
+ * changes are made in the FreeRTOS configuration or on the compiler
+ * optimisation parameters.
+ */
+
+#include "openpilot.h"
+
+// Local constants
+#define BENCHMARK_DURATION_MS 10000
+
+// Local functions
+static void testTask(void *pvParameters);
+
+// Variables
+static uint32_t idleCounter = 0;
+static uint32_t idleCounterClear = 0;
+
+int main()
+{
+	PIOS_SYS_Init();
+
+	// Create test task
+	xTaskCreate(testTask, (signed portCHAR *)"Test", 1000 , NULL, 1, NULL);
+
+	// Start the FreeRTOS scheduler
+	vTaskStartScheduler();
+	return 0;
+}
+
+static void testTask(void *pvParameters)
+{
+	uint32_t countsPerSecond = 0;
+
+	while (1)
+	{
+		// Delay until enough required test duration
+		vTaskDelay( BENCHMARK_DURATION_MS / portTICK_RATE_MS );
+
+		// Calculate counts per second, set breakpoint here
+		countsPerSecond = idleCounter / (BENCHMARK_DURATION_MS/1000);
+
+		// Reset and start again - do not clear idleCounter directly!
+		// SET BREAKPOINT HERE and read the countsPerSecond variable
+		// this should be used to update IDLE_COUNTS_PER_SEC_AT_NO_LOAD in systemmod.c
+		idleCounterClear = 1;
+	}
+}
+
+void vApplicationIdleHook(void)
+{
+	/* Called when the scheduler has no tasks to run */
+	if (idleCounterClear == 0)
+	{
+		++idleCounter;
+	}
+	else
+	{
+		idleCounter = 0;
+		idleCounterClear = 0;
+	}
+}

flight/OpenPilot.posix/Tests/test_i2c_PCF8570.c

@@ -0,0 +1,282 @@
+/**
+ ******************************************************************************
+ *
+ * @file       openpilot.c 
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Sets up ans runs main OpenPilot tasks.
+ * @see        The GNU Public License (GPL) Version 3
+ * 
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+
+/*
+ * I2C Test: communicate with external PCF8570 ram chip
+ * For this test to function, PCF8570 chips need to be attached to the I2C port
+ *
+ * Blinking Blue LED: No errors detected, test continues
+ * Blinking Red LED: Error detected, test stopped
+ *
+ */
+
+/* OpenPilot Includes */
+#include "openpilot.h"
+
+//#define USE_DEBUG_PINS
+
+#define DEVICE_1_ADDRESS 0x50
+#define DEVICE_2_ADDRESS 0x51
+
+#ifdef USE_DEBUG_PINS
+	#define	DEBUG_PIN_TASK1_WAIT	0
+	#define DEBUG_PIN_TASK1_LOCKED	1
+	#define	DEBUG_PIN_TASK2_WAIT	2
+	#define DEBUG_PIN_TASK2_LOCKED	3
+    #define DEBUG_PIN_TRANSFER		4
+	#define DEBUG_PIN_IDLE			6
+	#define DEBUG_PIN_ERROR			7
+	#define DebugPinHigh(x) PIOS_DEBUG_PinHigh(x)
+	#define DebugPinLow(x)	PIOS_DEBUG_PinLow(x)
+#else
+	#define DebugPinHigh(x)
+	#define DebugPinLow(x)
+#endif
+
+
+
+#define MAX_LOCK_WAIT				2		// Time in ms that a thread can normally block I2C
+
+/* Task Priorities */
+#define PRIORITY_TASK_HOOKS             (tskIDLE_PRIORITY + 3)
+
+
+/* Global Variables */
+
+/* Local Variables */
+
+/* Function Prototypes */
+static void Task1(void *pvParameters);
+static void Task2(void *pvParameters);
+
+
+/**
+* OpenPilot Main function
+*/
+int main()
+{
+	// Init
+	PIOS_SYS_Init();
+	PIOS_DEBUG_Init();
+	PIOS_DELAY_Init();
+	PIOS_COM_Init();
+	PIOS_USB_Init(0);
+	PIOS_I2C_Init();
+
+	// Both leds off
+	PIOS_LED_Off(LED1);
+	PIOS_LED_Off(LED2);
+
+	// Create task
+	xTaskCreate(Task1, (signed portCHAR *)"Task1", 1024 , NULL, 1, NULL);
+	xTaskCreate(Task2, (signed portCHAR *)"Task2", 1024 , NULL, 2, NULL);
+
+
+	// Start the FreeRTOS scheduler
+	vTaskStartScheduler();
+
+	/* If all is well we will never reach here as the scheduler will now be running. */
+	/* If we do get here, it will most likely be because we ran out of heap space. */
+	return 0;
+}
+
+static void OnError(void)
+{
+	PIOS_LED_Off(LED1);
+	while(1)
+	{
+		DebugPinHigh(DEBUG_PIN_ERROR);
+		PIOS_LED_Toggle(LED2);
+		vTaskDelay(50 / portTICK_RATE_MS);
+		DebugPinLow(DEBUG_PIN_ERROR);
+	}
+}
+//
+// This is a low priority task that will continuously access one I2C device
+// Frequently it will release the I2C device so that others can also use I2C
+//
+static void Task1(void *pvParameters)
+{
+	int i = 0;
+
+
+	if (PIOS_I2C_LockDevice(MAX_LOCK_WAIT / portTICK_RATE_MS))
+	{
+		if (PIOS_I2C_Transfer(I2C_Write, DEVICE_1_ADDRESS<<1, (uint8_t*)"\x20\xB0\xB1\xB2", 4) != 0)
+			OnError();
+		PIOS_I2C_UnlockDevice();
+	}
+	else
+	{
+		OnError();
+	}
+
+	for(;;)
+	{
+		i++;
+		if (i==100)
+		{
+			PIOS_LED_Toggle(LED1);
+			i = 0;
+		}
+
+		DebugPinHigh(DEBUG_PIN_TASK1_WAIT);
+		if (PIOS_I2C_LockDevice(MAX_LOCK_WAIT / portTICK_RATE_MS))
+		{
+			uint8_t buf[20];
+
+			DebugPinLow(DEBUG_PIN_TASK1_WAIT);
+			DebugPinHigh(DEBUG_PIN_TASK1_LOCKED);
+
+			// Write A0 A1 A2  at address 0x10
+			DebugPinHigh(DEBUG_PIN_TRANSFER);
+			if (PIOS_I2C_Transfer(I2C_Write, DEVICE_1_ADDRESS<<1, (uint8_t*)"\x10\xA0\xA1\xA2", 4) != 0)
+				OnError();
+			DebugPinLow(DEBUG_PIN_TRANSFER);
+
+
+			// Read 3 bytes at address 0x20 and check
+			DebugPinHigh(DEBUG_PIN_TRANSFER);
+			if (PIOS_I2C_Transfer(I2C_Write_WithoutStop, DEVICE_1_ADDRESS<<1, (uint8_t*)"\x20", 1) != 0)
+				OnError();
+			DebugPinLow(DEBUG_PIN_TRANSFER);
+
+			DebugPinHigh(DEBUG_PIN_TRANSFER);
+			if (PIOS_I2C_Transfer(I2C_Read, DEVICE_1_ADDRESS<<1, buf, 3) != 0)
+				OnError();
+			DebugPinLow(DEBUG_PIN_TRANSFER);
+
+			if (memcmp(buf, "\xB0\xB1\xB2",3) != 0)
+				OnError();
+
+			// Read 3 bytes at address 0x10 and check
+			DebugPinHigh(DEBUG_PIN_TRANSFER);
+			if (PIOS_I2C_Transfer(I2C_Write_WithoutStop, DEVICE_1_ADDRESS<<1, (uint8_t*)"\x10", 1) != 0)
+				OnError();
+			DebugPinLow(DEBUG_PIN_TRANSFER);
+
+			DebugPinHigh(DEBUG_PIN_TRANSFER);
+			if (PIOS_I2C_Transfer(I2C_Read, DEVICE_1_ADDRESS<<1, buf, 3) != 0)
+				OnError();
+			DebugPinLow(DEBUG_PIN_TRANSFER);
+
+			if (memcmp(buf, "\xA0\xA1\xA2",3) != 0)
+				OnError();
+
+			DebugPinLow(DEBUG_PIN_TASK1_LOCKED);
+			PIOS_I2C_UnlockDevice();
+		}
+		else
+		{
+			OnError();
+		}
+	}
+}
+
+// This is a high priority task that will periodically perform some actions on the second I2C device
+// Most of the time it will have to wait for the other task task to release I2C
+static void Task2(void *pvParameters)
+{
+	portTickType xLastExecutionTime;
+
+    xLastExecutionTime = xTaskGetTickCount();
+    uint32_t count = 0;
+
+	for(;;)
+	{
+		uint8_t buf[20];
+
+		DebugPinHigh(DEBUG_PIN_TASK2_WAIT);
+		if (PIOS_I2C_LockDevice(MAX_LOCK_WAIT / portTICK_RATE_MS))
+		{
+			DebugPinLow(DEBUG_PIN_TASK2_WAIT);
+			DebugPinHigh(DEBUG_PIN_TASK2_LOCKED);
+
+			// Write value of count to address 0x10
+			buf[0] = 0x10;				// The address
+			memcpy(&buf[1], &count, 4);	// The data to write
+			DebugPinHigh(DEBUG_PIN_TRANSFER);
+			if (PIOS_I2C_Transfer(I2C_Write, DEVICE_2_ADDRESS<<1, buf, 5) != 0)
+				OnError();
+			DebugPinLow(DEBUG_PIN_TRANSFER);
+
+			DebugPinLow(DEBUG_PIN_TASK2_LOCKED);
+			PIOS_I2C_UnlockDevice();
+		}
+		else
+		{
+			OnError();
+		}
+
+		vTaskDelay(2 / portTICK_RATE_MS);
+
+		DebugPinHigh(DEBUG_PIN_TASK2_WAIT);
+		if (PIOS_I2C_LockDevice(1 / portTICK_RATE_MS))
+		{
+			DebugPinLow(DEBUG_PIN_TASK2_WAIT);
+			DebugPinHigh(DEBUG_PIN_TASK2_LOCKED);
+
+			// Read at address 0x10 and check
+			DebugPinHigh(DEBUG_PIN_TRANSFER);
+			if (PIOS_I2C_Transfer(I2C_Write_WithoutStop, DEVICE_2_ADDRESS<<1, (uint8_t*)"\x10", 1) != 0)
+				OnError();
+			DebugPinLow(DEBUG_PIN_TRANSFER);
+
+			DebugPinHigh(DEBUG_PIN_TRANSFER);
+			if (PIOS_I2C_Transfer(I2C_Read, DEVICE_2_ADDRESS<<1, buf, 4) != 0)
+				OnError();
+			DebugPinLow(DEBUG_PIN_TRANSFER);
+
+			DebugPinHigh(DEBUG_PIN_TRANSFER);
+			if (memcmp(buf, &count, 4) != 0)
+				OnError();
+			DebugPinLow(DEBUG_PIN_TRANSFER);
+
+
+			DebugPinLow(DEBUG_PIN_TASK2_LOCKED);
+			PIOS_I2C_UnlockDevice();
+		}
+		else
+		{
+			OnError();
+		}
+
+		vTaskDelay(5 / portTICK_RATE_MS);
+
+		count++;
+	}
+}
+
+
+/**
+* Idle hook function
+*/
+void vApplicationIdleHook(void)
+{
+	/* Called when the scheduler has no tasks to run */
+	DebugPinHigh(DEBUG_PIN_IDLE);
+	DebugPinLow(DEBUG_PIN_IDLE);
+}

flight/OpenPilot.posix/Tests/test_uavobjects.c

@@ -0,0 +1,174 @@
+/**
+ ******************************************************************************
+ *
+ * @file       test_uavobjects.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Tests for the UAVObject libraries
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+#include "exampleobject1.h"
+#include "uavobjectsinit.h"
+
+// Local functions
+static void testTask(void *pvParameters);
+static void eventCallback(UAVObjEvent* ev);
+static void eventCallbackPeriodic(UAVObjEvent* ev);
+
+// Variables
+int testDelay = 0;
+
+int main()
+{
+	/* Brings up System using CMSIS functions, enables the LEDs. */
+	PIOS_SYS_Init();
+
+	/* Delay system */
+	PIOS_DELAY_Init();
+
+	/* SPI Init */
+	PIOS_SPI_Init();
+
+	/* Enables the SDCard */
+	PIOS_SDCARD_Init();
+	PIOS_SDCARD_MountFS(0);
+
+	// Turn on both LEDs
+	PIOS_LED_On(LED1);
+	PIOS_LED_On(LED2);
+
+	// Create test task
+	xTaskCreate(testTask, (signed portCHAR *)"ObjTest", 1000 , NULL, 1, NULL);
+
+	// Start the FreeRTOS scheduler
+	vTaskStartScheduler();
+	return 0;
+}
+
+static void testTask(void *pvParameters)
+{
+	ExampleObject1Data data;
+
+	// Initialize object and manager
+	EventDispatcherInitialize();
+	UAVObjInitialize();
+	UAVObjectsInitializeAll();
+
+	// Set data
+	ExampleObject1Get(&data);
+	data.Field1 = 1;
+	data.Field2 = 2;
+	ExampleObject1Set(&data);
+
+	// Get data
+	memset(&data, 0, sizeof(data));
+	ExampleObject1Get(&data);
+
+	// Benchmark time is takes to get and set data (both operations)
+	int tickStart = xTaskGetTickCount();
+	for (int n = 0; n < 10000; ++n)
+	{
+		ExampleObject1Set(&data);
+		ExampleObject1Get(&data);
+	}
+	int delay = xTaskGetTickCount() - tickStart;
+
+	// Create a new instance and get/set its data
+	uint16_t instId = ExampleObject1CreateInstance();
+	ExampleObject1InstSet(instId, &data);
+	memset(&data, 0, sizeof(data));
+	ExampleObject1InstGet(instId, &data);
+
+	// Test pack/unpack
+	uint8_t buffer[EXAMPLEOBJECT1_NUMBYTES];
+	memset(buffer, 0, EXAMPLEOBJECT1_NUMBYTES);
+	UAVObjPack(ExampleObject1Handle(), 0, buffer);
+	memset(&data, 0, sizeof(data));
+	ExampleObject1Set(&data);
+	UAVObjUnpack(ExampleObject1Handle(), 0, buffer);
+	ExampleObject1Get(&data);
+
+	// Test object saving/loading to SD card
+	UAVObjSave(ExampleObject1Handle(), 0);
+	memset(&data, 0, sizeof(data));
+	ExampleObject1Set(&data);
+	UAVObjLoad(ExampleObject1Handle(), 0);
+	ExampleObject1Get(&data);
+
+	// Retrieve object handle by ID
+	UAVObjHandle handle = UAVObjGetByID(EXAMPLEOBJECT1_OBJID);
+	const char* name = UAVObjGetName(handle);
+
+	// Get/Set the metadata
+	UAVObjMetadata mdata;
+	ExampleObject1GetMetadata(&mdata);
+	mdata.gcsTelemetryAcked = 0;
+	ExampleObject1SetMetadata(&mdata);
+	memset(&mdata, 0, sizeof(mdata));
+	ExampleObject1GetMetadata(&mdata);
+
+	// Test callbacks
+	ExampleObject1ConnectCallback(eventCallback);
+	ExampleObject1Set(&data);
+
+	// Test queue events
+	xQueueHandle queue;
+	queue = xQueueCreate(10, sizeof(UAVObjEvent));
+	ExampleObject1ConnectQueue(queue);
+
+	// Test periodic events
+	UAVObjEvent ev;
+	ev.event = 0;
+	ev.instId = 0;
+	ev.obj = ExampleObject1Handle();
+	EventPeriodicCallbackCreate(&ev, eventCallbackPeriodic, 500);
+	EventPeriodicQueueCreate(&ev, queue, 250);
+
+	// Done testing
+	while (1)
+	{
+		if(xQueueReceive(queue, &ev, portMAX_DELAY) == pdTRUE)
+		{
+			name = UAVObjGetName(ev.obj);
+			PIOS_LED_Toggle(LED2);
+		}
+	}
+
+}
+
+static void eventCallback(UAVObjEvent* ev)
+{
+	const char* name = UAVObjGetName(ev->obj);
+}
+
+static void eventCallbackPeriodic(UAVObjEvent* ev)
+{
+	static int lastUpdate;
+	testDelay = xTaskGetTickCount() - lastUpdate;
+	lastUpdate = xTaskGetTickCount();
+	const char* name = UAVObjGetName(ev->obj);
+	PIOS_LED_Toggle(LED1);
+	//ExampleObject1Updated();
+}
+
+void vApplicationIdleHook(void)
+{
+	/* Called when the scheduler has no tasks to run */
+}

flight/OpenPilot.posix/UAVObjects/actuatorcommand.c

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

flight/OpenPilot.posix/UAVObjects/actuatordesired.c

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

flight/OpenPilot.posix/UAVObjects/actuatorsettings.c

@@ -0,0 +1,142 @@
+/**
+ ******************************************************************************
+ *
+ * @file       actuatorsettings.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the ActuatorSettings object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: actuatorsettings.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+#include "actuatorsettings.h"
+
+// Private variables
+static UAVObjHandle handle;
+
+// Private functions
+static void setDefaults(UAVObjHandle obj, uint16_t instId);
+
+/**
+ * Initialize object.
+ * \return 0 Success
+ * \return -1 Failure
+ */
+int32_t ActuatorSettingsInitialize()
+{
+	// Register object with the object manager
+	handle = UAVObjRegister(ACTUATORSETTINGS_OBJID, ACTUATORSETTINGS_NAME, ACTUATORSETTINGS_METANAME, 0,
+			ACTUATORSETTINGS_ISSINGLEINST, ACTUATORSETTINGS_ISSETTINGS, ACTUATORSETTINGS_NUMBYTES, &setDefaults);
+
+	// Done
+	if (handle != 0)
+	{
+		return 0;
+	}
+	else
+	{
+		return -1;
+	}
+}
+
+/**
+ * Initialize object fields and metadata with the default values.
+ * If a default value is not specified the object fields
+ * will be initialized to zero.
+ */
+static void setDefaults(UAVObjHandle obj, uint16_t instId)
+{
+	ActuatorSettingsData data;
+	UAVObjMetadata metadata;
+
+	// Initialize object fields to their default values
+	UAVObjGetInstanceData(obj, instId, &data);
+	memset(&data, 0, sizeof(ActuatorSettingsData));
+    data.FixedWingRoll1 = 8;
+    data.FixedWingRoll2 = 8;
+    data.FixedWingPitch1 = 8;
+    data.FixedWingPitch2 = 8;
+    data.FixedWingYaw = 8;
+    data.FixedWingThrottle = 8;
+    data.VTOLMotorN = 8;
+    data.VTOLMotorNE = 8;
+    data.VTOLMotorE = 8;
+    data.VTOLMotorSE = 8;
+    data.VTOLMotorS = 8;
+    data.VTOLMotorSW = 8;
+    data.VTOLMotorW = 8;
+    data.VTOLMotorNW = 8;
+    data.ChannelUpdateFreq[0] = 50;
+    data.ChannelUpdateFreq[1] = 50;
+    data.ChannelMax[0] = 2000;
+    data.ChannelMax[1] = 2000;
+    data.ChannelMax[2] = 2000;
+    data.ChannelMax[3] = 2000;
+    data.ChannelMax[4] = 2000;
+    data.ChannelMax[5] = 2000;
+    data.ChannelMax[6] = 2000;
+    data.ChannelMax[7] = 2000;
+    data.ChannelNeutral[0] = 1500;
+    data.ChannelNeutral[1] = 1500;
+    data.ChannelNeutral[2] = 1500;
+    data.ChannelNeutral[3] = 1500;
+    data.ChannelNeutral[4] = 1500;
+    data.ChannelNeutral[5] = 1500;
+    data.ChannelNeutral[6] = 1500;
+    data.ChannelNeutral[7] = 1500;
+    data.ChannelMin[0] = 1000;
+    data.ChannelMin[1] = 1000;
+    data.ChannelMin[2] = 1000;
+    data.ChannelMin[3] = 1000;
+    data.ChannelMin[4] = 1000;
+    data.ChannelMin[5] = 1000;
+    data.ChannelMin[6] = 1000;
+    data.ChannelMin[7] = 1000;
+
+	UAVObjSetInstanceData(obj, instId, &data);
+
+	// Initialize object metadata to their default values
+	metadata.access = ACCESS_READWRITE;
+	metadata.gcsAccess = ACCESS_READWRITE;
+	metadata.telemetryAcked = 1;
+	metadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
+	metadata.telemetryUpdatePeriod = 0;
+	metadata.gcsTelemetryAcked = 1;
+	metadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
+	metadata.gcsTelemetryUpdatePeriod = 0;
+	metadata.loggingUpdateMode = UPDATEMODE_NEVER;
+	metadata.loggingUpdatePeriod = 0;
+	UAVObjSetMetadata(obj, &metadata);
+}
+
+/**
+ * Get object handle
+ */
+UAVObjHandle ActuatorSettingsHandle()
+{
+	return handle;
+}
+
+
+

flight/OpenPilot.posix/UAVObjects/altitudeactual.c

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

flight/OpenPilot.posix/UAVObjects/attitudeactual.c

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

flight/OpenPilot.posix/UAVObjects/attitudedesired.c

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

flight/OpenPilot.posix/UAVObjects/attitudesettings.c

@@ -0,0 +1,103 @@
+/**
+ ******************************************************************************
+ *
+ * @file       attitudesettings.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the AttitudeSettings object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: attitudesettings.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+#include "attitudesettings.h"
+
+// Private variables
+static UAVObjHandle handle;
+
+// Private functions
+static void setDefaults(UAVObjHandle obj, uint16_t instId);
+
+/**
+ * Initialize object.
+ * \return 0 Success
+ * \return -1 Failure
+ */
+int32_t AttitudeSettingsInitialize()
+{
+	// Register object with the object manager
+	handle = UAVObjRegister(ATTITUDESETTINGS_OBJID, ATTITUDESETTINGS_NAME, ATTITUDESETTINGS_METANAME, 0,
+			ATTITUDESETTINGS_ISSINGLEINST, ATTITUDESETTINGS_ISSETTINGS, ATTITUDESETTINGS_NUMBYTES, &setDefaults);
+
+	// Done
+	if (handle != 0)
+	{
+		return 0;
+	}
+	else
+	{
+		return -1;
+	}
+}
+
+/**
+ * Initialize object fields and metadata with the default values.
+ * If a default value is not specified the object fields
+ * will be initialized to zero.
+ */
+static void setDefaults(UAVObjHandle obj, uint16_t instId)
+{
+	AttitudeSettingsData data;
+	UAVObjMetadata metadata;
+
+	// Initialize object fields to their default values
+	UAVObjGetInstanceData(obj, instId, &data);
+	memset(&data, 0, sizeof(AttitudeSettingsData));
+    data.UpdatePeriod = 500;
+
+	UAVObjSetInstanceData(obj, instId, &data);
+
+	// Initialize object metadata to their default values
+	metadata.access = ACCESS_READWRITE;
+	metadata.gcsAccess = ACCESS_READWRITE;
+	metadata.telemetryAcked = 1;
+	metadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
+	metadata.telemetryUpdatePeriod = 0;
+	metadata.gcsTelemetryAcked = 1;
+	metadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
+	metadata.gcsTelemetryUpdatePeriod = 0;
+	metadata.loggingUpdateMode = UPDATEMODE_NEVER;
+	metadata.loggingUpdatePeriod = 0;
+	UAVObjSetMetadata(obj, &metadata);
+}
+
+/**
+ * Get object handle
+ */
+UAVObjHandle AttitudeSettingsHandle()
+{
+	return handle;
+}
+
+
+

flight/OpenPilot.posix/UAVObjects/attitudesettings.py

@@ -0,0 +1,86 @@
+##
+##############################################################################
+#
+# @file       attitudesettings.py
+# @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+# @brief      Implementation of the AttitudeSettings object. This file has been 
+#             automatically generated by the UAVObjectGenerator.
+# 
+# @note       Object definition file: attitudesettings.xml. 
+#             This is an automatically generated file.
+#             DO NOT modify manually.
+#
+# @see        The GNU Public License (GPL) Version 3
+#
+#############################################################################/
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful, but
+# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+# for more details.
+#
+# You should have received a copy of the GNU General Public License along
+# with this program; if not, write to the Free Software Foundation, Inc.,
+# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+#
+
+
+import uavobject
+
+import struct
+from collections import namedtuple
+
+# This is a list of instances of the data fields contained in this object
+_fields = [ \
+	uavobject.UAVObjectField(
+		'UpdatePeriod',
+		'i',
+		1,
+		[
+			'0',
+		],
+		{
+		}
+	),
+]
+
+
+class AttitudeSettings(uavobject.UAVObject):
+    ## Object constants
+    OBJID        = 3446368842
+    NAME         = "AttitudeSettings"
+    METANAME     = "AttitudeSettingsMeta"
+    ISSINGLEINST = 1
+    ISSETTINGS   = 1
+
+    def __init__(self):
+        uavobject.UAVObject.__init__(self,
+                                     self.OBJID, 
+                                     self.NAME,
+                                     self.METANAME,
+                                     0,
+                                     self.ISSINGLEINST)
+
+        for f in _fields:
+            self.add_field(f)
+        
+    def __str__(self):
+        s  = ("0x%08X (%10u)  %-30s  %3u bytes  format '%s'\n"
+                 % (self.OBJID, self.OBJID, self.NAME, self.get_struct().size, self.get_struct().format))
+        for f in self.get_tuple()._fields:
+            s += ("\t%s\n" % f)
+        return (s)
+
+def main():
+    # Instantiate the object and dump out some interesting info
+    x = AttitudeSettings()
+    print (x)
+
+if __name__ == "__main__":
+    #import pdb ; pdb.run('main()')
+    main()

flight/OpenPilot.posix/UAVObjects/eventdispatcher.c

@@ -0,0 +1,375 @@
+/**
+ ******************************************************************************
+ *
+ * @file       eventdispatcher.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Event dispatcher, distributes object events as callbacks. Alternative
+ * 	       to using tasks and queues. All callbacks are invoked from the event task.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+
+// Private constants
+#define MAX_QUEUE_SIZE 20
+#define STACK_SIZE configMINIMAL_STACK_SIZE
+#define TASK_PRIORITY (tskIDLE_PRIORITY + 3)
+#define MAX_UPDATE_PERIOD_MS 1000
+
+// Private types
+
+
+/**
+ * Event callback information
+ */
+typedef struct {
+	UAVObjEvent ev; /** The actual event */
+	UAVObjEventCallback cb; /** The callback function, or zero if none */
+	xQueueHandle queue; /** The queue or zero if none */
+} EventCallbackInfo;
+
+/**
+ * List of object properties that are needed for the periodic updates.
+ */
+struct PeriodicObjectListStruct {
+	EventCallbackInfo evInfo; /** Event callback information */
+    int32_t updatePeriodMs; /** Update period in ms or 0 if no periodic updates are needed */
+    int32_t timeToNextUpdateMs; /** Time delay to the next update */
+    struct PeriodicObjectListStruct* next; /** Needed by linked list library (utlist.h) */
+};
+typedef struct PeriodicObjectListStruct PeriodicObjectList;
+
+// Private variables
+static PeriodicObjectList* objList;
+static xQueueHandle queue;
+static xTaskHandle eventTaskHandle;
+static xSemaphoreHandle mutex;
+static EventStats stats;
+
+// Private functions
+static int32_t processPeriodicUpdates();
+static void eventTask();
+static int32_t eventPeriodicCreate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, int32_t periodMs);
+static int32_t eventPeriodicUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, int32_t periodMs);
+static uint32_t randomizePeriod(uint32_t periodMs);
+
+
+/**
+ * Initialize the dispatcher
+ * \return Success (0), failure (-1)
+ */
+int32_t EventDispatcherInitialize()
+{
+	// Initialize variables
+	objList = NULL;
+	memset(&stats, 0, sizeof(EventStats));
+
+	// Create mutex
+	mutex = xSemaphoreCreateRecursiveMutex();
+	if (mutex == NULL)
+		return -1;
+
+	// Create event queue
+	queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(EventCallbackInfo));
+
+	// Create task
+	xTaskCreate( eventTask, (signed char*)"Event", STACK_SIZE, NULL, TASK_PRIORITY, &eventTaskHandle );
+
+	// Done
+	return 0;
+}
+
+/**
+ * Get the statistics counters
+ * @param[out] statsOut The statistics counters will be copied there
+ */
+void EventGetStats(EventStats* statsOut)
+{
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	memcpy(statsOut, &stats, sizeof(EventStats));
+	xSemaphoreGiveRecursive(mutex);
+}
+
+/**
+ * Clear the statistics counters
+ */
+void EventClearStats()
+{
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	memset(&stats, 0, sizeof(EventStats));
+	xSemaphoreGiveRecursive(mutex);
+}
+
+/**
+ * Dispatch an event by invoking the supplied callback. The function
+ * returns imidiatelly, the callback is invoked from the event task.
+ * \param[in] ev The event to be dispatched
+ * \param[in] cb The callback function
+ * \return Success (0), failure (-1)
+ */
+int32_t EventCallbackDispatch(UAVObjEvent* ev, UAVObjEventCallback cb)
+{
+	EventCallbackInfo evInfo;
+	// Initialize event callback information
+	memcpy(&evInfo.ev, ev, sizeof(UAVObjEvent));
+	evInfo.cb = cb;
+	evInfo.queue = 0;
+	// Push to queue
+	return xQueueSend(queue, &evInfo, 0); // will not block if queue is full
+}
+
+/**
+ * Dispatch an event at periodic intervals.
+ * \param[in] ev The event to be dispatched
+ * \param[in] cb The callback to be invoked
+ * \param[in] periodMs The period the event is generated
+ * \return Success (0), failure (-1)
+ */
+int32_t EventPeriodicCallbackCreate(UAVObjEvent* ev, UAVObjEventCallback cb, int32_t periodMs)
+{
+	return eventPeriodicCreate(ev, cb, 0, periodMs);
+}
+
+/**
+ * Update the period of a periodic event.
+ * \param[in] ev The event to be dispatched
+ * \param[in] cb The callback to be invoked
+ * \param[in] periodMs The period the event is generated
+ * \return Success (0), failure (-1)
+ */
+int32_t EventPeriodicCallbackUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, int32_t periodMs)
+{
+	return eventPeriodicUpdate(ev, cb, 0, periodMs);
+}
+
+/**
+ * Dispatch an event at periodic intervals.
+ * \param[in] ev The event to be dispatched
+ * \param[in] queue The queue that the event will be pushed in
+ * \param[in] periodMs The period the event is generated
+ * \return Success (0), failure (-1)
+ */
+int32_t EventPeriodicQueueCreate(UAVObjEvent* ev, xQueueHandle queue, int32_t periodMs)
+{
+	return eventPeriodicCreate(ev, 0, queue, periodMs);
+}
+
+/**
+ * Update the period of a periodic event.
+ * \param[in] ev The event to be dispatched
+ * \param[in] queue The queue
+ * \param[in] periodMs The period the event is generated
+ * \return Success (0), failure (-1)
+ */
+int32_t EventPeriodicQueueUpdate(UAVObjEvent* ev, xQueueHandle queue, int32_t periodMs)
+{
+	return eventPeriodicUpdate(ev, 0, queue, periodMs);
+}
+
+/**
+ * Dispatch an event through a callback at periodic intervals.
+ * \param[in] ev The event to be dispatched
+ * \param[in] cb The callback to be invoked or zero if none
+ * \param[in] queue The queue or zero if none
+ * \param[in] periodMs The period the event is generated
+ * \return Success (0), failure (-1)
+ */
+static int32_t eventPeriodicCreate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, int32_t periodMs)
+{
+	PeriodicObjectList* objEntry;
+	// Get lock
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	// Check that the object is not already connected
+	LL_FOREACH(objList, objEntry)
+	{
+		if (objEntry->evInfo.cb == cb &&
+			objEntry->evInfo.queue == queue &&
+			objEntry->evInfo.ev.obj == ev->obj &&
+			objEntry->evInfo.ev.instId == ev->instId &&
+			objEntry->evInfo.ev.event == ev->event)
+		{
+			// Already registered, do nothing
+			xSemaphoreGiveRecursive(mutex);
+			return -1;
+		}
+	}
+    // Create handle
+	objEntry = (PeriodicObjectList*)pvPortMalloc(sizeof(PeriodicObjectList));
+	if (objEntry == NULL) return -1;
+	objEntry->evInfo.ev.obj = ev->obj;
+	objEntry->evInfo.ev.instId = ev->instId;
+	objEntry->evInfo.ev.event = ev->event;
+	objEntry->evInfo.cb = cb;
+	objEntry->evInfo.queue = queue;
+    objEntry->updatePeriodMs = periodMs;
+    objEntry->timeToNextUpdateMs = randomizePeriod(periodMs); // avoid bunching of updates
+    // Add to list
+    LL_APPEND(objList, objEntry);
+	// Release lock
+	xSemaphoreGiveRecursive(mutex);
+    return 0;
+}
+
+/**
+ * Update the period of a periodic event.
+ * \param[in] ev The event to be dispatched
+ * \param[in] cb The callback to be invoked or zero if none
+ * \param[in] queue The queue or zero if none
+ * \param[in] periodMs The period the event is generated
+ * \return Success (0), failure (-1)
+ */
+static int32_t eventPeriodicUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, int32_t periodMs)
+{
+	PeriodicObjectList* objEntry;
+	// Get lock
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	// Find object
+	LL_FOREACH(objList, objEntry)
+	{
+		if (objEntry->evInfo.cb == cb &&
+			objEntry->evInfo.queue == queue &&
+			objEntry->evInfo.ev.obj == ev->obj &&
+			objEntry->evInfo.ev.instId == ev->instId &&
+			objEntry->evInfo.ev.event == ev->event)
+		{
+			// Object found, update period
+			objEntry->updatePeriodMs = periodMs;
+			objEntry->timeToNextUpdateMs = randomizePeriod(periodMs); // avoid bunching of updates
+			// Release lock
+			xSemaphoreGiveRecursive(mutex);
+			return 0;
+		}
+	}
+    // If this point is reached the object was not found
+	xSemaphoreGiveRecursive(mutex);
+    return -1;
+}
+
+/**
+ * Event task, responsible of invoking callbacks.
+ */
+static void eventTask()
+{
+	int32_t timeToNextUpdateMs;
+	int32_t delayMs;
+	EventCallbackInfo evInfo;
+
+	// Initialize time
+	timeToNextUpdateMs = xTaskGetTickCount()*portTICK_RATE_MS;
+
+	// Loop forever
+	while (1)
+	{
+		// Calculate delay time
+		delayMs = timeToNextUpdateMs-(xTaskGetTickCount()*portTICK_RATE_MS);
+		if (delayMs < 0)
+		{
+			delayMs = 0;
+		}
+
+		// Wait for queue message
+		if ( xQueueReceive(queue, &evInfo, delayMs/portTICK_RATE_MS) == pdTRUE )
+		{
+			// Invoke callback, if one
+			if ( evInfo.cb != 0)
+			{
+				evInfo.cb(&evInfo.ev); // the function is expected to copy the event information
+			}
+		}
+
+		// Process periodic updates
+		if ((xTaskGetTickCount()*portTICK_RATE_MS) >= timeToNextUpdateMs )
+		{
+			timeToNextUpdateMs = processPeriodicUpdates();
+		}
+	}
+}
+
+/**
+ * Handle periodic updates for all objects.
+ * \return The system time until the next update (in ms) or -1 if failed
+ */
+static int32_t processPeriodicUpdates()
+{
+	PeriodicObjectList* objEntry;
+	int32_t timeNow;
+    int32_t timeToNextUpdate;
+
+	// Get lock
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+    // Iterate through each object and update its timer, if zero then transmit object.
+    // Also calculate smallest delay to next update.
+    timeToNextUpdate = xTaskGetTickCount()*portTICK_RATE_MS + MAX_UPDATE_PERIOD_MS;
+    LL_FOREACH(objList, objEntry)
+    {
+        // If object is configured for periodic updates
+        if (objEntry->updatePeriodMs > 0)
+        {
+            // Check if time for the next update
+        	timeNow = xTaskGetTickCount()*portTICK_RATE_MS;
+            if (objEntry->timeToNextUpdateMs <= timeNow)
+            {
+                // Reset timer
+            	objEntry->timeToNextUpdateMs = timeNow + objEntry->updatePeriodMs;
+    			// Invoke callback, if one
+    			if ( objEntry->evInfo.cb != 0)
+    			{
+    				objEntry->evInfo.cb(&objEntry->evInfo.ev); // the function is expected to copy the event information
+    			}
+    			// Push event to queue, if one
+    			if ( objEntry->evInfo.queue != 0)
+    			{
+    				if ( xQueueSend(objEntry->evInfo.queue, &objEntry->evInfo.ev, 0) != pdTRUE ) // do not block if queue is full
+    				{
+    					++stats.eventErrors;
+    				}
+    			}
+            }
+            // Update minimum delay
+            if (objEntry->timeToNextUpdateMs < timeToNextUpdate)
+            {
+            	timeToNextUpdate = objEntry->timeToNextUpdateMs;
+            }
+        }
+    }
+
+    // Done
+    xSemaphoreGiveRecursive(mutex);
+    return timeToNextUpdate;
+}
+
+/**
+ * Return a psedorandom integer from 0 to periodMs
+ * Based on the Park-Miller-Carta Pseudo-Random Number Generator
+ * http://www.firstpr.com.au/dsp/rand31/
+ */
+static uint32_t randomizePeriod(uint32_t periodMs)
+{
+	static uint32_t seed = 1;
+	uint32_t hi, lo;
+	lo = 16807 * (seed & 0xFFFF);
+	hi = 16807 * (seed >> 16);
+	lo += (hi & 0x7FFF) << 16;
+	lo += hi >> 15;
+	if (lo > 0x7FFFFFFF) lo -= 0x7FFFFFFF;
+	seed = lo;
+	return (uint32_t)( ((float)periodMs * (float)lo) / (float)0x7FFFFFFF );
+}
+

flight/OpenPilot.posix/UAVObjects/exampleobject1.c

@@ -0,0 +1,102 @@
+/**
+ ******************************************************************************
+ *
+ * @file       exampleobject1.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the ExampleObject1 object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: exampleobject1.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+#include "exampleobject1.h"
+
+// Private variables
+static UAVObjHandle handle;
+
+// Private functions
+static void setDefaults(UAVObjHandle obj, uint16_t instId);
+
+/**
+ * Initialize object.
+ * \return 0 Success
+ * \return -1 Failure
+ */
+int32_t ExampleObject1Initialize()
+{
+	// Register object with the object manager
+	handle = UAVObjRegister(EXAMPLEOBJECT1_OBJID, EXAMPLEOBJECT1_NAME, EXAMPLEOBJECT1_METANAME, 0,
+			EXAMPLEOBJECT1_ISSINGLEINST, EXAMPLEOBJECT1_ISSETTINGS, EXAMPLEOBJECT1_NUMBYTES, &setDefaults);
+
+	// Done
+	if (handle != 0)
+	{
+		return 0;
+	}
+	else
+	{
+		return -1;
+	}
+}
+
+/**
+ * Initialize object fields and metadata with the default values.
+ * If a default value is not specified the object fields
+ * will be initialized to zero.
+ */
+static void setDefaults(UAVObjHandle obj, uint16_t instId)
+{
+	ExampleObject1Data data;
+	UAVObjMetadata metadata;
+
+	// Initialize object fields to their default values
+	UAVObjGetInstanceData(obj, instId, &data);
+	memset(&data, 0, sizeof(ExampleObject1Data));
+
+	UAVObjSetInstanceData(obj, instId, &data);
+
+	// Initialize object metadata to their default values
+	metadata.access = ACCESS_READWRITE;
+	metadata.gcsAccess = ACCESS_READWRITE;
+	metadata.telemetryAcked = 1;
+	metadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
+	metadata.telemetryUpdatePeriod = 0;
+	metadata.gcsTelemetryAcked = 1;
+	metadata.gcsTelemetryUpdateMode = UPDATEMODE_PERIODIC;
+	metadata.gcsTelemetryUpdatePeriod = 500;
+	metadata.loggingUpdateMode = UPDATEMODE_NEVER;
+	metadata.loggingUpdatePeriod = 0;
+	UAVObjSetMetadata(obj, &metadata);
+}
+
+/**
+ * Get object handle
+ */
+UAVObjHandle ExampleObject1Handle()
+{
+	return handle;
+}
+
+
+

flight/OpenPilot.posix/UAVObjects/exampleobject2.c

@@ -0,0 +1,102 @@
+/**
+ ******************************************************************************
+ *
+ * @file       exampleobject2.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the ExampleObject2 object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: exampleobject2.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+#include "exampleobject2.h"
+
+// Private variables
+static UAVObjHandle handle;
+
+// Private functions
+static void setDefaults(UAVObjHandle obj, uint16_t instId);
+
+/**
+ * Initialize object.
+ * \return 0 Success
+ * \return -1 Failure
+ */
+int32_t ExampleObject2Initialize()
+{
+	// Register object with the object manager
+	handle = UAVObjRegister(EXAMPLEOBJECT2_OBJID, EXAMPLEOBJECT2_NAME, EXAMPLEOBJECT2_METANAME, 0,
+			EXAMPLEOBJECT2_ISSINGLEINST, EXAMPLEOBJECT2_ISSETTINGS, EXAMPLEOBJECT2_NUMBYTES, &setDefaults);
+
+	// Done
+	if (handle != 0)
+	{
+		return 0;
+	}
+	else
+	{
+		return -1;
+	}
+}
+
+/**
+ * Initialize object fields and metadata with the default values.
+ * If a default value is not specified the object fields
+ * will be initialized to zero.
+ */
+static void setDefaults(UAVObjHandle obj, uint16_t instId)
+{
+	ExampleObject2Data data;
+	UAVObjMetadata metadata;
+
+	// Initialize object fields to their default values
+	UAVObjGetInstanceData(obj, instId, &data);
+	memset(&data, 0, sizeof(ExampleObject2Data));
+
+	UAVObjSetInstanceData(obj, instId, &data);
+
+	// Initialize object metadata to their default values
+	metadata.access = ACCESS_READWRITE;
+	metadata.gcsAccess = ACCESS_READWRITE;
+	metadata.telemetryAcked = 1;
+	metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
+	metadata.telemetryUpdatePeriod = 500;
+	metadata.gcsTelemetryAcked = 1;
+	metadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
+	metadata.gcsTelemetryUpdatePeriod = 0;
+	metadata.loggingUpdateMode = UPDATEMODE_NEVER;
+	metadata.loggingUpdatePeriod = 0;
+	UAVObjSetMetadata(obj, &metadata);
+}
+
+/**
+ * Get object handle
+ */
+UAVObjHandle ExampleObject2Handle()
+{
+	return handle;
+}
+
+
+

flight/OpenPilot.posix/UAVObjects/examplesettings.c

@@ -0,0 +1,105 @@
+/**
+ ******************************************************************************
+ *
+ * @file       examplesettings.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the ExampleSettings object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: examplesettings.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+#include "examplesettings.h"
+
+// Private variables
+static UAVObjHandle handle;
+
+// Private functions
+static void setDefaults(UAVObjHandle obj, uint16_t instId);
+
+/**
+ * Initialize object.
+ * \return 0 Success
+ * \return -1 Failure
+ */
+int32_t ExampleSettingsInitialize()
+{
+	// Register object with the object manager
+	handle = UAVObjRegister(EXAMPLESETTINGS_OBJID, EXAMPLESETTINGS_NAME, EXAMPLESETTINGS_METANAME, 0,
+			EXAMPLESETTINGS_ISSINGLEINST, EXAMPLESETTINGS_ISSETTINGS, EXAMPLESETTINGS_NUMBYTES, &setDefaults);
+
+	// Done
+	if (handle != 0)
+	{
+		return 0;
+	}
+	else
+	{
+		return -1;
+	}
+}
+
+/**
+ * Initialize object fields and metadata with the default values.
+ * If a default value is not specified the object fields
+ * will be initialized to zero.
+ */
+static void setDefaults(UAVObjHandle obj, uint16_t instId)
+{
+	ExampleSettingsData data;
+	UAVObjMetadata metadata;
+
+	// Initialize object fields to their default values
+	UAVObjGetInstanceData(obj, instId, &data);
+	memset(&data, 0, sizeof(ExampleSettingsData));
+    data.UpdatePeriod = 10;
+    data.StepSize = 1;
+    data.StepDirection = 0;
+
+	UAVObjSetInstanceData(obj, instId, &data);
+
+	// Initialize object metadata to their default values
+	metadata.access = ACCESS_READWRITE;
+	metadata.gcsAccess = ACCESS_READWRITE;
+	metadata.telemetryAcked = 1;
+	metadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
+	metadata.telemetryUpdatePeriod = 0;
+	metadata.gcsTelemetryAcked = 1;
+	metadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
+	metadata.gcsTelemetryUpdatePeriod = 0;
+	metadata.loggingUpdateMode = UPDATEMODE_NEVER;
+	metadata.loggingUpdatePeriod = 0;
+	UAVObjSetMetadata(obj, &metadata);
+}
+
+/**
+ * Get object handle
+ */
+UAVObjHandle ExampleSettingsHandle()
+{
+	return handle;
+}
+
+
+

flight/OpenPilot.posix/UAVObjects/flightbatterystate.c

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

flight/OpenPilot.posix/UAVObjects/flighttelemetrystats.c

@@ -0,0 +1,102 @@
+/**
+ ******************************************************************************
+ *
+ * @file       flighttelemetrystats.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the FlightTelemetryStats object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: flighttelemetrystats.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+#include "flighttelemetrystats.h"
+
+// Private variables
+static UAVObjHandle handle;
+
+// Private functions
+static void setDefaults(UAVObjHandle obj, uint16_t instId);
+
+/**
+ * Initialize object.
+ * \return 0 Success
+ * \return -1 Failure
+ */
+int32_t FlightTelemetryStatsInitialize()
+{
+	// Register object with the object manager
+	handle = UAVObjRegister(FLIGHTTELEMETRYSTATS_OBJID, FLIGHTTELEMETRYSTATS_NAME, FLIGHTTELEMETRYSTATS_METANAME, 0,
+			FLIGHTTELEMETRYSTATS_ISSINGLEINST, FLIGHTTELEMETRYSTATS_ISSETTINGS, FLIGHTTELEMETRYSTATS_NUMBYTES, &setDefaults);
+
+	// Done
+	if (handle != 0)
+	{
+		return 0;
+	}
+	else
+	{
+		return -1;
+	}
+}
+
+/**
+ * Initialize object fields and metadata with the default values.
+ * If a default value is not specified the object fields
+ * will be initialized to zero.
+ */
+static void setDefaults(UAVObjHandle obj, uint16_t instId)
+{
+	FlightTelemetryStatsData data;
+	UAVObjMetadata metadata;
+
+	// Initialize object fields to their default values
+	UAVObjGetInstanceData(obj, instId, &data);
+	memset(&data, 0, sizeof(FlightTelemetryStatsData));
+
+	UAVObjSetInstanceData(obj, instId, &data);
+
+	// Initialize object metadata to their default values
+	metadata.access = ACCESS_READWRITE;
+	metadata.gcsAccess = ACCESS_READWRITE;
+	metadata.telemetryAcked = 1;
+	metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
+	metadata.telemetryUpdatePeriod = 5000;
+	metadata.gcsTelemetryAcked = 1;
+	metadata.gcsTelemetryUpdateMode = UPDATEMODE_MANUAL;
+	metadata.gcsTelemetryUpdatePeriod = 0;
+	metadata.loggingUpdateMode = UPDATEMODE_PERIODIC;
+	metadata.loggingUpdatePeriod = 5000;
+	UAVObjSetMetadata(obj, &metadata);
+}
+
+/**
+ * Get object handle
+ */
+UAVObjHandle FlightTelemetryStatsHandle()
+{
+	return handle;
+}
+
+
+

flight/OpenPilot.posix/UAVObjects/gcstelemetrystats.c

@@ -0,0 +1,102 @@
+/**
+ ******************************************************************************
+ *
+ * @file       gcstelemetrystats.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the GCSTelemetryStats object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: gcstelemetrystats.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+#include "gcstelemetrystats.h"
+
+// Private variables
+static UAVObjHandle handle;
+
+// Private functions
+static void setDefaults(UAVObjHandle obj, uint16_t instId);
+
+/**
+ * Initialize object.
+ * \return 0 Success
+ * \return -1 Failure
+ */
+int32_t GCSTelemetryStatsInitialize()
+{
+	// Register object with the object manager
+	handle = UAVObjRegister(GCSTELEMETRYSTATS_OBJID, GCSTELEMETRYSTATS_NAME, GCSTELEMETRYSTATS_METANAME, 0,
+			GCSTELEMETRYSTATS_ISSINGLEINST, GCSTELEMETRYSTATS_ISSETTINGS, GCSTELEMETRYSTATS_NUMBYTES, &setDefaults);
+
+	// Done
+	if (handle != 0)
+	{
+		return 0;
+	}
+	else
+	{
+		return -1;
+	}
+}
+
+/**
+ * Initialize object fields and metadata with the default values.
+ * If a default value is not specified the object fields
+ * will be initialized to zero.
+ */
+static void setDefaults(UAVObjHandle obj, uint16_t instId)
+{
+	GCSTelemetryStatsData data;
+	UAVObjMetadata metadata;
+
+	// Initialize object fields to their default values
+	UAVObjGetInstanceData(obj, instId, &data);
+	memset(&data, 0, sizeof(GCSTelemetryStatsData));
+
+	UAVObjSetInstanceData(obj, instId, &data);
+
+	// Initialize object metadata to their default values
+	metadata.access = ACCESS_READWRITE;
+	metadata.gcsAccess = ACCESS_READWRITE;
+	metadata.telemetryAcked = 1;
+	metadata.telemetryUpdateMode = UPDATEMODE_MANUAL;
+	metadata.telemetryUpdatePeriod = 0;
+	metadata.gcsTelemetryAcked = 1;
+	metadata.gcsTelemetryUpdateMode = UPDATEMODE_PERIODIC;
+	metadata.gcsTelemetryUpdatePeriod = 5000;
+	metadata.loggingUpdateMode = UPDATEMODE_NEVER;
+	metadata.loggingUpdatePeriod = 0;
+	UAVObjSetMetadata(obj, &metadata);
+}
+
+/**
+ * Get object handle
+ */
+UAVObjHandle GCSTelemetryStatsHandle()
+{
+	return handle;
+}
+
+
+

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

@@ -0,0 +1,74 @@
+/**
+ ******************************************************************************
+ *
+ * @file       actuatorcommand.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the ActuatorCommand object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: actuatorcommand.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef ACTUATORCOMMAND_H
+#define ACTUATORCOMMAND_H
+
+// Object constants
+#define ACTUATORCOMMAND_OBJID 3909877022U
+#define ACTUATORCOMMAND_NAME "ActuatorCommand"
+#define ACTUATORCOMMAND_METANAME "ActuatorCommandMeta"
+#define ACTUATORCOMMAND_ISSINGLEINST 1
+#define ACTUATORCOMMAND_ISSETTINGS 0
+#define ACTUATORCOMMAND_NUMBYTES sizeof(ActuatorCommandData)
+
+// Object access macros
+#define ActuatorCommandGet(dataOut) UAVObjGetData(ActuatorCommandHandle(), dataOut)
+#define ActuatorCommandSet(dataIn) UAVObjSetData(ActuatorCommandHandle(), dataIn)
+#define ActuatorCommandInstGet(instId, dataOut) UAVObjGetInstanceData(ActuatorCommandHandle(), instId, dataOut)
+#define ActuatorCommandInstSet(instId, dataIn) UAVObjSetInstanceData(ActuatorCommandHandle(), instId, dataIn)
+#define ActuatorCommandConnectQueue(queue) UAVObjConnectQueue(ActuatorCommandHandle(), queue, EV_MASK_ALL_UPDATES)
+#define ActuatorCommandConnectCallback(cb) UAVObjConnectCallback(ActuatorCommandHandle(), cb, EV_MASK_ALL_UPDATES)
+#define ActuatorCommandCreateInstance() UAVObjCreateInstance(ActuatorCommandHandle())
+#define ActuatorCommandRequestUpdate() UAVObjRequestUpdate(ActuatorCommandHandle())
+#define ActuatorCommandRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(ActuatorCommandHandle(), instId)
+#define ActuatorCommandUpdated() UAVObjUpdated(ActuatorCommandHandle())
+#define ActuatorCommandInstUpdated(instId) UAVObjUpdated(ActuatorCommandHandle(), instId)
+#define ActuatorCommandGetMetadata(dataOut) UAVObjGetMetadata(ActuatorCommandHandle(), dataOut)
+#define ActuatorCommandSetMetadata(dataIn) UAVObjSetMetadata(ActuatorCommandHandle(), dataIn)
+
+// Object data
+typedef struct {
+    int16_t Channel[8];
+
+} __attribute__((packed)) ActuatorCommandData;
+
+// Field information
+// Field Channel information
+/* Number of elements for field Channel */
+#define ACTUATORCOMMAND_CHANNEL_NUMELEM 8
+
+
+// Generic interface functions
+int32_t ActuatorCommandInitialize();
+UAVObjHandle ActuatorCommandHandle();
+
+#endif // ACTUATORCOMMAND_H

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

@@ -0,0 +1,78 @@
+/**
+ ******************************************************************************
+ *
+ * @file       actuatordesired.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the ActuatorDesired object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: actuatordesired.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef ACTUATORDESIRED_H
+#define ACTUATORDESIRED_H
+
+// Object constants
+#define ACTUATORDESIRED_OBJID 123085850U
+#define ACTUATORDESIRED_NAME "ActuatorDesired"
+#define ACTUATORDESIRED_METANAME "ActuatorDesiredMeta"
+#define ACTUATORDESIRED_ISSINGLEINST 1
+#define ACTUATORDESIRED_ISSETTINGS 0
+#define ACTUATORDESIRED_NUMBYTES sizeof(ActuatorDesiredData)
+
+// Object access macros
+#define ActuatorDesiredGet(dataOut) UAVObjGetData(ActuatorDesiredHandle(), dataOut)
+#define ActuatorDesiredSet(dataIn) UAVObjSetData(ActuatorDesiredHandle(), dataIn)
+#define ActuatorDesiredInstGet(instId, dataOut) UAVObjGetInstanceData(ActuatorDesiredHandle(), instId, dataOut)
+#define ActuatorDesiredInstSet(instId, dataIn) UAVObjSetInstanceData(ActuatorDesiredHandle(), instId, dataIn)
+#define ActuatorDesiredConnectQueue(queue) UAVObjConnectQueue(ActuatorDesiredHandle(), queue, EV_MASK_ALL_UPDATES)
+#define ActuatorDesiredConnectCallback(cb) UAVObjConnectCallback(ActuatorDesiredHandle(), cb, EV_MASK_ALL_UPDATES)
+#define ActuatorDesiredCreateInstance() UAVObjCreateInstance(ActuatorDesiredHandle())
+#define ActuatorDesiredRequestUpdate() UAVObjRequestUpdate(ActuatorDesiredHandle())
+#define ActuatorDesiredRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(ActuatorDesiredHandle(), instId)
+#define ActuatorDesiredUpdated() UAVObjUpdated(ActuatorDesiredHandle())
+#define ActuatorDesiredInstUpdated(instId) UAVObjUpdated(ActuatorDesiredHandle(), instId)
+#define ActuatorDesiredGetMetadata(dataOut) UAVObjGetMetadata(ActuatorDesiredHandle(), dataOut)
+#define ActuatorDesiredSetMetadata(dataIn) UAVObjSetMetadata(ActuatorDesiredHandle(), dataIn)
+
+// Object data
+typedef struct {
+    float Roll;
+    float Pitch;
+    float Yaw;
+    float Throttle;
+
+} __attribute__((packed)) ActuatorDesiredData;
+
+// Field information
+// Field Roll information
+// Field Pitch information
+// Field Yaw information
+// Field Throttle information
+
+
+// Generic interface functions
+int32_t ActuatorDesiredInitialize();
+UAVObjHandle ActuatorDesiredHandle();
+
+#endif // ACTUATORDESIRED_H

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

@@ -0,0 +1,142 @@
+/**
+ ******************************************************************************
+ *
+ * @file       actuatorsettings.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the ActuatorSettings object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: actuatorsettings.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef ACTUATORSETTINGS_H
+#define ACTUATORSETTINGS_H
+
+// Object constants
+#define ACTUATORSETTINGS_OBJID 3054509114U
+#define ACTUATORSETTINGS_NAME "ActuatorSettings"
+#define ACTUATORSETTINGS_METANAME "ActuatorSettingsMeta"
+#define ACTUATORSETTINGS_ISSINGLEINST 1
+#define ACTUATORSETTINGS_ISSETTINGS 1
+#define ACTUATORSETTINGS_NUMBYTES sizeof(ActuatorSettingsData)
+
+// Object access macros
+#define ActuatorSettingsGet(dataOut) UAVObjGetData(ActuatorSettingsHandle(), dataOut)
+#define ActuatorSettingsSet(dataIn) UAVObjSetData(ActuatorSettingsHandle(), dataIn)
+#define ActuatorSettingsInstGet(instId, dataOut) UAVObjGetInstanceData(ActuatorSettingsHandle(), instId, dataOut)
+#define ActuatorSettingsInstSet(instId, dataIn) UAVObjSetInstanceData(ActuatorSettingsHandle(), instId, dataIn)
+#define ActuatorSettingsConnectQueue(queue) UAVObjConnectQueue(ActuatorSettingsHandle(), queue, EV_MASK_ALL_UPDATES)
+#define ActuatorSettingsConnectCallback(cb) UAVObjConnectCallback(ActuatorSettingsHandle(), cb, EV_MASK_ALL_UPDATES)
+#define ActuatorSettingsCreateInstance() UAVObjCreateInstance(ActuatorSettingsHandle())
+#define ActuatorSettingsRequestUpdate() UAVObjRequestUpdate(ActuatorSettingsHandle())
+#define ActuatorSettingsRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(ActuatorSettingsHandle(), instId)
+#define ActuatorSettingsUpdated() UAVObjUpdated(ActuatorSettingsHandle())
+#define ActuatorSettingsInstUpdated(instId) UAVObjUpdated(ActuatorSettingsHandle(), instId)
+#define ActuatorSettingsGetMetadata(dataOut) UAVObjGetMetadata(ActuatorSettingsHandle(), dataOut)
+#define ActuatorSettingsSetMetadata(dataIn) UAVObjSetMetadata(ActuatorSettingsHandle(), dataIn)
+
+// Object data
+typedef struct {
+    uint8_t FixedWingRoll1;
+    uint8_t FixedWingRoll2;
+    uint8_t FixedWingPitch1;
+    uint8_t FixedWingPitch2;
+    uint8_t FixedWingYaw;
+    uint8_t FixedWingThrottle;
+    uint8_t VTOLMotorN;
+    uint8_t VTOLMotorNE;
+    uint8_t VTOLMotorE;
+    uint8_t VTOLMotorSE;
+    uint8_t VTOLMotorS;
+    uint8_t VTOLMotorSW;
+    uint8_t VTOLMotorW;
+    uint8_t VTOLMotorNW;
+    int16_t ChannelUpdateFreq[2];
+    int16_t ChannelMax[8];
+    int16_t ChannelNeutral[8];
+    int16_t ChannelMin[8];
+
+} __attribute__((packed)) ActuatorSettingsData;
+
+// Field information
+// Field FixedWingRoll1 information
+/* Enumeration options for field FixedWingRoll1 */
+typedef enum { ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL0=0, ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL1=1, ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL2=2, ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL3=3, ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL4=4, ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL5=5, ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL6=6, ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL7=7, ACTUATORSETTINGS_FIXEDWINGROLL1_NONE=8,  } ActuatorSettingsFixedWingRoll1Options;
+// Field FixedWingRoll2 information
+/* Enumeration options for field FixedWingRoll2 */
+typedef enum { ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL0=0, ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL1=1, ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL2=2, ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL3=3, ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL4=4, ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL5=5, ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL6=6, ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL7=7, ACTUATORSETTINGS_FIXEDWINGROLL2_NONE=8,  } ActuatorSettingsFixedWingRoll2Options;
+// Field FixedWingPitch1 information
+/* Enumeration options for field FixedWingPitch1 */
+typedef enum { ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL0=0, ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL1=1, ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL2=2, ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL3=3, ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL4=4, ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL5=5, ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL6=6, ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL7=7, ACTUATORSETTINGS_FIXEDWINGPITCH1_NONE=8,  } ActuatorSettingsFixedWingPitch1Options;
+// Field FixedWingPitch2 information
+/* Enumeration options for field FixedWingPitch2 */
+typedef enum { ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL0=0, ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL1=1, ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL2=2, ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL3=3, ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL4=4, ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL5=5, ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL6=6, ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL7=7, ACTUATORSETTINGS_FIXEDWINGPITCH2_NONE=8,  } ActuatorSettingsFixedWingPitch2Options;
+// Field FixedWingYaw information
+/* Enumeration options for field FixedWingYaw */
+typedef enum { ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL0=0, ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL1=1, ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL2=2, ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL3=3, ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL4=4, ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL5=5, ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL6=6, ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL7=7, ACTUATORSETTINGS_FIXEDWINGYAW_NONE=8,  } ActuatorSettingsFixedWingYawOptions;
+// Field FixedWingThrottle information
+/* Enumeration options for field FixedWingThrottle */
+typedef enum { ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL0=0, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL1=1, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL2=2, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL3=3, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL4=4, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL5=5, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL6=6, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL7=7, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_NONE=8,  } ActuatorSettingsFixedWingThrottleOptions;
+// Field VTOLMotorN information
+/* Enumeration options for field VTOLMotorN */
+typedef enum { ACTUATORSETTINGS_VTOLMOTORN_CHANNEL0=0, ACTUATORSETTINGS_VTOLMOTORN_CHANNEL1=1, ACTUATORSETTINGS_VTOLMOTORN_CHANNEL2=2, ACTUATORSETTINGS_VTOLMOTORN_CHANNEL3=3, ACTUATORSETTINGS_VTOLMOTORN_CHANNEL4=4, ACTUATORSETTINGS_VTOLMOTORN_CHANNEL5=5, ACTUATORSETTINGS_VTOLMOTORN_CHANNEL6=6, ACTUATORSETTINGS_VTOLMOTORN_CHANNEL7=7, ACTUATORSETTINGS_VTOLMOTORN_NONE=8,  } ActuatorSettingsVTOLMotorNOptions;
+// Field VTOLMotorNE information
+/* Enumeration options for field VTOLMotorNE */
+typedef enum { ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL0=0, ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL1=1, ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL2=2, ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL3=3, ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL4=4, ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL5=5, ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL6=6, ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL7=7, ACTUATORSETTINGS_VTOLMOTORNE_NONE=8,  } ActuatorSettingsVTOLMotorNEOptions;
+// Field VTOLMotorE information
+/* Enumeration options for field VTOLMotorE */
+typedef enum { ACTUATORSETTINGS_VTOLMOTORE_CHANNEL0=0, ACTUATORSETTINGS_VTOLMOTORE_CHANNEL1=1, ACTUATORSETTINGS_VTOLMOTORE_CHANNEL2=2, ACTUATORSETTINGS_VTOLMOTORE_CHANNEL3=3, ACTUATORSETTINGS_VTOLMOTORE_CHANNEL4=4, ACTUATORSETTINGS_VTOLMOTORE_CHANNEL5=5, ACTUATORSETTINGS_VTOLMOTORE_CHANNEL6=6, ACTUATORSETTINGS_VTOLMOTORE_CHANNEL7=7, ACTUATORSETTINGS_VTOLMOTORE_NONE=8,  } ActuatorSettingsVTOLMotorEOptions;
+// Field VTOLMotorSE information
+/* Enumeration options for field VTOLMotorSE */
+typedef enum { ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL0=0, ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL1=1, ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL2=2, ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL3=3, ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL4=4, ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL5=5, ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL6=6, ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL7=7, ACTUATORSETTINGS_VTOLMOTORSE_NONE=8,  } ActuatorSettingsVTOLMotorSEOptions;
+// Field VTOLMotorS information
+/* Enumeration options for field VTOLMotorS */
+typedef enum { ACTUATORSETTINGS_VTOLMOTORS_CHANNEL0=0, ACTUATORSETTINGS_VTOLMOTORS_CHANNEL1=1, ACTUATORSETTINGS_VTOLMOTORS_CHANNEL2=2, ACTUATORSETTINGS_VTOLMOTORS_CHANNEL3=3, ACTUATORSETTINGS_VTOLMOTORS_CHANNEL4=4, ACTUATORSETTINGS_VTOLMOTORS_CHANNEL5=5, ACTUATORSETTINGS_VTOLMOTORS_CHANNEL6=6, ACTUATORSETTINGS_VTOLMOTORS_CHANNEL7=7, ACTUATORSETTINGS_VTOLMOTORS_NONE=8,  } ActuatorSettingsVTOLMotorSOptions;
+// Field VTOLMotorSW information
+/* Enumeration options for field VTOLMotorSW */
+typedef enum { ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL0=0, ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL1=1, ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL2=2, ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL3=3, ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL4=4, ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL5=5, ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL6=6, ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL7=7, ACTUATORSETTINGS_VTOLMOTORSW_NONE=8,  } ActuatorSettingsVTOLMotorSWOptions;
+// Field VTOLMotorW information
+/* Enumeration options for field VTOLMotorW */
+typedef enum { ACTUATORSETTINGS_VTOLMOTORW_CHANNEL0=0, ACTUATORSETTINGS_VTOLMOTORW_CHANNEL1=1, ACTUATORSETTINGS_VTOLMOTORW_CHANNEL2=2, ACTUATORSETTINGS_VTOLMOTORW_CHANNEL3=3, ACTUATORSETTINGS_VTOLMOTORW_CHANNEL4=4, ACTUATORSETTINGS_VTOLMOTORW_CHANNEL5=5, ACTUATORSETTINGS_VTOLMOTORW_CHANNEL6=6, ACTUATORSETTINGS_VTOLMOTORW_CHANNEL7=7, ACTUATORSETTINGS_VTOLMOTORW_NONE=8,  } ActuatorSettingsVTOLMotorWOptions;
+// Field VTOLMotorNW information
+/* Enumeration options for field VTOLMotorNW */
+typedef enum { ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL0=0, ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL1=1, ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL2=2, ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL3=3, ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL4=4, ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL5=5, ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL6=6, ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL7=7, ACTUATORSETTINGS_VTOLMOTORNW_NONE=8,  } ActuatorSettingsVTOLMotorNWOptions;
+// Field ChannelUpdateFreq information
+/* Number of elements for field ChannelUpdateFreq */
+#define ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM 2
+// Field ChannelMax information
+/* Number of elements for field ChannelMax */
+#define ACTUATORSETTINGS_CHANNELMAX_NUMELEM 8
+// Field ChannelNeutral information
+/* Number of elements for field ChannelNeutral */
+#define ACTUATORSETTINGS_CHANNELNEUTRAL_NUMELEM 8
+// Field ChannelMin information
+/* Number of elements for field ChannelMin */
+#define ACTUATORSETTINGS_CHANNELMIN_NUMELEM 8
+
+
+// Generic interface functions
+int32_t ActuatorSettingsInitialize();
+UAVObjHandle ActuatorSettingsHandle();
+
+#endif // ACTUATORSETTINGS_H

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

@@ -0,0 +1,76 @@
+/**
+ ******************************************************************************
+ *
+ * @file       altitudeactual.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the AltitudeActual object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: altitudeactual.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef ALTITUDEACTUAL_H
+#define ALTITUDEACTUAL_H
+
+// Object constants
+#define ALTITUDEACTUAL_OBJID 2251817750U
+#define ALTITUDEACTUAL_NAME "AltitudeActual"
+#define ALTITUDEACTUAL_METANAME "AltitudeActualMeta"
+#define ALTITUDEACTUAL_ISSINGLEINST 1
+#define ALTITUDEACTUAL_ISSETTINGS 0
+#define ALTITUDEACTUAL_NUMBYTES sizeof(AltitudeActualData)
+
+// Object access macros
+#define AltitudeActualGet(dataOut) UAVObjGetData(AltitudeActualHandle(), dataOut)
+#define AltitudeActualSet(dataIn) UAVObjSetData(AltitudeActualHandle(), dataIn)
+#define AltitudeActualInstGet(instId, dataOut) UAVObjGetInstanceData(AltitudeActualHandle(), instId, dataOut)
+#define AltitudeActualInstSet(instId, dataIn) UAVObjSetInstanceData(AltitudeActualHandle(), instId, dataIn)
+#define AltitudeActualConnectQueue(queue) UAVObjConnectQueue(AltitudeActualHandle(), queue, EV_MASK_ALL_UPDATES)
+#define AltitudeActualConnectCallback(cb) UAVObjConnectCallback(AltitudeActualHandle(), cb, EV_MASK_ALL_UPDATES)
+#define AltitudeActualCreateInstance() UAVObjCreateInstance(AltitudeActualHandle())
+#define AltitudeActualRequestUpdate() UAVObjRequestUpdate(AltitudeActualHandle())
+#define AltitudeActualRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(AltitudeActualHandle(), instId)
+#define AltitudeActualUpdated() UAVObjUpdated(AltitudeActualHandle())
+#define AltitudeActualInstUpdated(instId) UAVObjUpdated(AltitudeActualHandle(), instId)
+#define AltitudeActualGetMetadata(dataOut) UAVObjGetMetadata(AltitudeActualHandle(), dataOut)
+#define AltitudeActualSetMetadata(dataIn) UAVObjSetMetadata(AltitudeActualHandle(), dataIn)
+
+// Object data
+typedef struct {
+    float Altitude;
+    float Temperature;
+    float Pressure;
+
+} __attribute__((packed)) AltitudeActualData;
+
+// Field information
+// Field Altitude information
+// Field Temperature information
+// Field Pressure information
+
+
+// Generic interface functions
+int32_t AltitudeActualInitialize();
+UAVObjHandle AltitudeActualHandle();
+
+#endif // ALTITUDEACTUAL_H

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

@@ -0,0 +1,86 @@
+/**
+ ******************************************************************************
+ *
+ * @file       attitudeactual.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the AttitudeActual object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: attitudeactual.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef ATTITUDEACTUAL_H
+#define ATTITUDEACTUAL_H
+
+// Object constants
+#define ATTITUDEACTUAL_OBJID 1730350400U
+#define ATTITUDEACTUAL_NAME "AttitudeActual"
+#define ATTITUDEACTUAL_METANAME "AttitudeActualMeta"
+#define ATTITUDEACTUAL_ISSINGLEINST 1
+#define ATTITUDEACTUAL_ISSETTINGS 0
+#define ATTITUDEACTUAL_NUMBYTES sizeof(AttitudeActualData)
+
+// Object access macros
+#define AttitudeActualGet(dataOut) UAVObjGetData(AttitudeActualHandle(), dataOut)
+#define AttitudeActualSet(dataIn) UAVObjSetData(AttitudeActualHandle(), dataIn)
+#define AttitudeActualInstGet(instId, dataOut) UAVObjGetInstanceData(AttitudeActualHandle(), instId, dataOut)
+#define AttitudeActualInstSet(instId, dataIn) UAVObjSetInstanceData(AttitudeActualHandle(), instId, dataIn)
+#define AttitudeActualConnectQueue(queue) UAVObjConnectQueue(AttitudeActualHandle(), queue, EV_MASK_ALL_UPDATES)
+#define AttitudeActualConnectCallback(cb) UAVObjConnectCallback(AttitudeActualHandle(), cb, EV_MASK_ALL_UPDATES)
+#define AttitudeActualCreateInstance() UAVObjCreateInstance(AttitudeActualHandle())
+#define AttitudeActualRequestUpdate() UAVObjRequestUpdate(AttitudeActualHandle())
+#define AttitudeActualRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(AttitudeActualHandle(), instId)
+#define AttitudeActualUpdated() UAVObjUpdated(AttitudeActualHandle())
+#define AttitudeActualInstUpdated(instId) UAVObjUpdated(AttitudeActualHandle(), instId)
+#define AttitudeActualGetMetadata(dataOut) UAVObjGetMetadata(AttitudeActualHandle(), dataOut)
+#define AttitudeActualSetMetadata(dataIn) UAVObjSetMetadata(AttitudeActualHandle(), dataIn)
+
+// Object data
+typedef struct {
+    uint32_t seq;
+    float q1;
+    float q2;
+    float q3;
+    float q4;
+    float Roll;
+    float Pitch;
+    float Yaw;
+
+} __attribute__((packed)) AttitudeActualData;
+
+// Field information
+// Field seq information
+// Field q1 information
+// Field q2 information
+// Field q3 information
+// Field q4 information
+// Field Roll information
+// Field Pitch information
+// Field Yaw information
+
+
+// Generic interface functions
+int32_t AttitudeActualInitialize();
+UAVObjHandle AttitudeActualHandle();
+
+#endif // ATTITUDEACTUAL_H

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

@@ -0,0 +1,78 @@
+/**
+ ******************************************************************************
+ *
+ * @file       attitudedesired.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the AttitudeDesired object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: attitudedesired.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef ATTITUDEDESIRED_H
+#define ATTITUDEDESIRED_H
+
+// Object constants
+#define ATTITUDEDESIRED_OBJID 1412270808U
+#define ATTITUDEDESIRED_NAME "AttitudeDesired"
+#define ATTITUDEDESIRED_METANAME "AttitudeDesiredMeta"
+#define ATTITUDEDESIRED_ISSINGLEINST 1
+#define ATTITUDEDESIRED_ISSETTINGS 0
+#define ATTITUDEDESIRED_NUMBYTES sizeof(AttitudeDesiredData)
+
+// Object access macros
+#define AttitudeDesiredGet(dataOut) UAVObjGetData(AttitudeDesiredHandle(), dataOut)
+#define AttitudeDesiredSet(dataIn) UAVObjSetData(AttitudeDesiredHandle(), dataIn)
+#define AttitudeDesiredInstGet(instId, dataOut) UAVObjGetInstanceData(AttitudeDesiredHandle(), instId, dataOut)
+#define AttitudeDesiredInstSet(instId, dataIn) UAVObjSetInstanceData(AttitudeDesiredHandle(), instId, dataIn)
+#define AttitudeDesiredConnectQueue(queue) UAVObjConnectQueue(AttitudeDesiredHandle(), queue, EV_MASK_ALL_UPDATES)
+#define AttitudeDesiredConnectCallback(cb) UAVObjConnectCallback(AttitudeDesiredHandle(), cb, EV_MASK_ALL_UPDATES)
+#define AttitudeDesiredCreateInstance() UAVObjCreateInstance(AttitudeDesiredHandle())
+#define AttitudeDesiredRequestUpdate() UAVObjRequestUpdate(AttitudeDesiredHandle())
+#define AttitudeDesiredRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(AttitudeDesiredHandle(), instId)
+#define AttitudeDesiredUpdated() UAVObjUpdated(AttitudeDesiredHandle())
+#define AttitudeDesiredInstUpdated(instId) UAVObjUpdated(AttitudeDesiredHandle(), instId)
+#define AttitudeDesiredGetMetadata(dataOut) UAVObjGetMetadata(AttitudeDesiredHandle(), dataOut)
+#define AttitudeDesiredSetMetadata(dataIn) UAVObjSetMetadata(AttitudeDesiredHandle(), dataIn)
+
+// Object data
+typedef struct {
+    float Roll;
+    float Pitch;
+    float Yaw;
+    float Throttle;
+
+} __attribute__((packed)) AttitudeDesiredData;
+
+// Field information
+// Field Roll information
+// Field Pitch information
+// Field Yaw information
+// Field Throttle information
+
+
+// Generic interface functions
+int32_t AttitudeDesiredInitialize();
+UAVObjHandle AttitudeDesiredHandle();
+
+#endif // ATTITUDEDESIRED_H

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

@@ -0,0 +1,72 @@
+/**
+ ******************************************************************************
+ *
+ * @file       attitudesettings.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the AttitudeSettings object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: attitudesettings.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef ATTITUDESETTINGS_H
+#define ATTITUDESETTINGS_H
+
+// Object constants
+#define ATTITUDESETTINGS_OBJID 3446368842U
+#define ATTITUDESETTINGS_NAME "AttitudeSettings"
+#define ATTITUDESETTINGS_METANAME "AttitudeSettingsMeta"
+#define ATTITUDESETTINGS_ISSINGLEINST 1
+#define ATTITUDESETTINGS_ISSETTINGS 1
+#define ATTITUDESETTINGS_NUMBYTES sizeof(AttitudeSettingsData)
+
+// Object access macros
+#define AttitudeSettingsGet(dataOut) UAVObjGetData(AttitudeSettingsHandle(), dataOut)
+#define AttitudeSettingsSet(dataIn) UAVObjSetData(AttitudeSettingsHandle(), dataIn)
+#define AttitudeSettingsInstGet(instId, dataOut) UAVObjGetInstanceData(AttitudeSettingsHandle(), instId, dataOut)
+#define AttitudeSettingsInstSet(instId, dataIn) UAVObjSetInstanceData(AttitudeSettingsHandle(), instId, dataIn)
+#define AttitudeSettingsConnectQueue(queue) UAVObjConnectQueue(AttitudeSettingsHandle(), queue, EV_MASK_ALL_UPDATES)
+#define AttitudeSettingsConnectCallback(cb) UAVObjConnectCallback(AttitudeSettingsHandle(), cb, EV_MASK_ALL_UPDATES)
+#define AttitudeSettingsCreateInstance() UAVObjCreateInstance(AttitudeSettingsHandle())
+#define AttitudeSettingsRequestUpdate() UAVObjRequestUpdate(AttitudeSettingsHandle())
+#define AttitudeSettingsRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(AttitudeSettingsHandle(), instId)
+#define AttitudeSettingsUpdated() UAVObjUpdated(AttitudeSettingsHandle())
+#define AttitudeSettingsInstUpdated(instId) UAVObjUpdated(AttitudeSettingsHandle(), instId)
+#define AttitudeSettingsGetMetadata(dataOut) UAVObjGetMetadata(AttitudeSettingsHandle(), dataOut)
+#define AttitudeSettingsSetMetadata(dataIn) UAVObjSetMetadata(AttitudeSettingsHandle(), dataIn)
+
+// Object data
+typedef struct {
+    int32_t UpdatePeriod;
+
+} __attribute__((packed)) AttitudeSettingsData;
+
+// Field information
+// Field UpdatePeriod information
+
+
+// Generic interface functions
+int32_t AttitudeSettingsInitialize();
+UAVObjHandle AttitudeSettingsHandle();
+
+#endif // ATTITUDESETTINGS_H

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

@@ -0,0 +1,47 @@
+/**
+ ******************************************************************************
+ *
+ * @file       eventdispatcher.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Include files of the uavobjectlist library
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef EVENTDISPATCHER_H
+#define EVENTDISPATCHER_H
+
+// Public types
+/**
+ * Event dispatcher statistics
+ */
+typedef struct {
+	uint32_t eventErrors;
+} EventStats;
+
+// Public functions
+int32_t EventDispatcherInitialize();
+void EventGetStats(EventStats* statsOut);
+void EventClearStats();
+int32_t EventCallbackDispatch(UAVObjEvent* ev, UAVObjEventCallback cb);
+int32_t EventPeriodicCallbackCreate(UAVObjEvent* ev, UAVObjEventCallback cb, int32_t periodMs);
+int32_t EventPeriodicCallbackUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, int32_t periodMs);
+int32_t EventPeriodicQueueCreate(UAVObjEvent* ev, xQueueHandle queue, int32_t periodMs);
+int32_t EventPeriodicQueueUpdate(UAVObjEvent* ev, xQueueHandle queue, int32_t periodMs);
+
+#endif // EVENTDISPATCHER_H

flight/OpenPilot.posix/UAVObjects/inc/exampleobject1.h

@@ -0,0 +1,90 @@
+/**
+ ******************************************************************************
+ *
+ * @file       exampleobject1.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the ExampleObject1 object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: exampleobject1.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef EXAMPLEOBJECT1_H
+#define EXAMPLEOBJECT1_H
+
+// Object constants
+#define EXAMPLEOBJECT1_OBJID 3852936276U
+#define EXAMPLEOBJECT1_NAME "ExampleObject1"
+#define EXAMPLEOBJECT1_METANAME "ExampleObject1Meta"
+#define EXAMPLEOBJECT1_ISSINGLEINST 0
+#define EXAMPLEOBJECT1_ISSETTINGS 0
+#define EXAMPLEOBJECT1_NUMBYTES sizeof(ExampleObject1Data)
+
+// Object access macros
+#define ExampleObject1Get(dataOut) UAVObjGetData(ExampleObject1Handle(), dataOut)
+#define ExampleObject1Set(dataIn) UAVObjSetData(ExampleObject1Handle(), dataIn)
+#define ExampleObject1InstGet(instId, dataOut) UAVObjGetInstanceData(ExampleObject1Handle(), instId, dataOut)
+#define ExampleObject1InstSet(instId, dataIn) UAVObjSetInstanceData(ExampleObject1Handle(), instId, dataIn)
+#define ExampleObject1ConnectQueue(queue) UAVObjConnectQueue(ExampleObject1Handle(), queue, EV_MASK_ALL_UPDATES)
+#define ExampleObject1ConnectCallback(cb) UAVObjConnectCallback(ExampleObject1Handle(), cb, EV_MASK_ALL_UPDATES)
+#define ExampleObject1CreateInstance() UAVObjCreateInstance(ExampleObject1Handle())
+#define ExampleObject1RequestUpdate() UAVObjRequestUpdate(ExampleObject1Handle())
+#define ExampleObject1RequestInstUpdate(instId) UAVObjRequestInstanceUpdate(ExampleObject1Handle(), instId)
+#define ExampleObject1Updated() UAVObjUpdated(ExampleObject1Handle())
+#define ExampleObject1InstUpdated(instId) UAVObjUpdated(ExampleObject1Handle(), instId)
+#define ExampleObject1GetMetadata(dataOut) UAVObjGetMetadata(ExampleObject1Handle(), dataOut)
+#define ExampleObject1SetMetadata(dataIn) UAVObjSetMetadata(ExampleObject1Handle(), dataIn)
+
+// Object data
+typedef struct {
+    int8_t Field1;
+    int16_t Field2;
+    int32_t Field3;
+    float Field4[4];
+    uint8_t Field5;
+    uint16_t Field6;
+    uint32_t Field7;
+    uint8_t Field8;
+
+} __attribute__((packed)) ExampleObject1Data;
+
+// Field information
+// Field Field1 information
+// Field Field2 information
+// Field Field3 information
+// Field Field4 information
+/* Number of elements for field Field4 */
+#define EXAMPLEOBJECT1_FIELD4_NUMELEM 4
+// Field Field5 information
+// Field Field6 information
+// Field Field7 information
+// Field Field8 information
+/* Enumeration options for field Field8 */
+typedef enum { EXAMPLEOBJECT1_FIELD8_OPTION1=0, EXAMPLEOBJECT1_FIELD8_OPTION2=1,  } ExampleObject1Field8Options;
+
+
+// Generic interface functions
+int32_t ExampleObject1Initialize();
+UAVObjHandle ExampleObject1Handle();
+
+#endif // EXAMPLEOBJECT1_H

flight/OpenPilot.posix/UAVObjects/inc/exampleobject2.h

@@ -0,0 +1,80 @@
+/**
+ ******************************************************************************
+ *
+ * @file       exampleobject2.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the ExampleObject2 object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: exampleobject2.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef EXAMPLEOBJECT2_H
+#define EXAMPLEOBJECT2_H
+
+// Object constants
+#define EXAMPLEOBJECT2_OBJID 2743296914U
+#define EXAMPLEOBJECT2_NAME "ExampleObject2"
+#define EXAMPLEOBJECT2_METANAME "ExampleObject2Meta"
+#define EXAMPLEOBJECT2_ISSINGLEINST 0
+#define EXAMPLEOBJECT2_ISSETTINGS 0
+#define EXAMPLEOBJECT2_NUMBYTES sizeof(ExampleObject2Data)
+
+// Object access macros
+#define ExampleObject2Get(dataOut) UAVObjGetData(ExampleObject2Handle(), dataOut)
+#define ExampleObject2Set(dataIn) UAVObjSetData(ExampleObject2Handle(), dataIn)
+#define ExampleObject2InstGet(instId, dataOut) UAVObjGetInstanceData(ExampleObject2Handle(), instId, dataOut)
+#define ExampleObject2InstSet(instId, dataIn) UAVObjSetInstanceData(ExampleObject2Handle(), instId, dataIn)
+#define ExampleObject2ConnectQueue(queue) UAVObjConnectQueue(ExampleObject2Handle(), queue, EV_MASK_ALL_UPDATES)
+#define ExampleObject2ConnectCallback(cb) UAVObjConnectCallback(ExampleObject2Handle(), cb, EV_MASK_ALL_UPDATES)
+#define ExampleObject2CreateInstance() UAVObjCreateInstance(ExampleObject2Handle())
+#define ExampleObject2RequestUpdate() UAVObjRequestUpdate(ExampleObject2Handle())
+#define ExampleObject2RequestInstUpdate(instId) UAVObjRequestInstanceUpdate(ExampleObject2Handle(), instId)
+#define ExampleObject2Updated() UAVObjUpdated(ExampleObject2Handle())
+#define ExampleObject2InstUpdated(instId) UAVObjUpdated(ExampleObject2Handle(), instId)
+#define ExampleObject2GetMetadata(dataOut) UAVObjGetMetadata(ExampleObject2Handle(), dataOut)
+#define ExampleObject2SetMetadata(dataIn) UAVObjSetMetadata(ExampleObject2Handle(), dataIn)
+
+// Object data
+typedef struct {
+    int8_t Field1;
+    int16_t Field2;
+    int32_t Field3;
+    float Field4[4];
+
+} __attribute__((packed)) ExampleObject2Data;
+
+// Field information
+// Field Field1 information
+// Field Field2 information
+// Field Field3 information
+// Field Field4 information
+/* Number of elements for field Field4 */
+#define EXAMPLEOBJECT2_FIELD4_NUMELEM 4
+
+
+// Generic interface functions
+int32_t ExampleObject2Initialize();
+UAVObjHandle ExampleObject2Handle();
+
+#endif // EXAMPLEOBJECT2_H

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

@@ -0,0 +1,78 @@
+/**
+ ******************************************************************************
+ *
+ * @file       examplesettings.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the ExampleSettings object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: examplesettings.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef EXAMPLESETTINGS_H
+#define EXAMPLESETTINGS_H
+
+// Object constants
+#define EXAMPLESETTINGS_OBJID 1640607828U
+#define EXAMPLESETTINGS_NAME "ExampleSettings"
+#define EXAMPLESETTINGS_METANAME "ExampleSettingsMeta"
+#define EXAMPLESETTINGS_ISSINGLEINST 1
+#define EXAMPLESETTINGS_ISSETTINGS 1
+#define EXAMPLESETTINGS_NUMBYTES sizeof(ExampleSettingsData)
+
+// Object access macros
+#define ExampleSettingsGet(dataOut) UAVObjGetData(ExampleSettingsHandle(), dataOut)
+#define ExampleSettingsSet(dataIn) UAVObjSetData(ExampleSettingsHandle(), dataIn)
+#define ExampleSettingsInstGet(instId, dataOut) UAVObjGetInstanceData(ExampleSettingsHandle(), instId, dataOut)
+#define ExampleSettingsInstSet(instId, dataIn) UAVObjSetInstanceData(ExampleSettingsHandle(), instId, dataIn)
+#define ExampleSettingsConnectQueue(queue) UAVObjConnectQueue(ExampleSettingsHandle(), queue, EV_MASK_ALL_UPDATES)
+#define ExampleSettingsConnectCallback(cb) UAVObjConnectCallback(ExampleSettingsHandle(), cb, EV_MASK_ALL_UPDATES)
+#define ExampleSettingsCreateInstance() UAVObjCreateInstance(ExampleSettingsHandle())
+#define ExampleSettingsRequestUpdate() UAVObjRequestUpdate(ExampleSettingsHandle())
+#define ExampleSettingsRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(ExampleSettingsHandle(), instId)
+#define ExampleSettingsUpdated() UAVObjUpdated(ExampleSettingsHandle())
+#define ExampleSettingsInstUpdated(instId) UAVObjUpdated(ExampleSettingsHandle(), instId)
+#define ExampleSettingsGetMetadata(dataOut) UAVObjGetMetadata(ExampleSettingsHandle(), dataOut)
+#define ExampleSettingsSetMetadata(dataIn) UAVObjSetMetadata(ExampleSettingsHandle(), dataIn)
+
+// Object data
+typedef struct {
+    int32_t UpdatePeriod;
+    int32_t StepSize;
+    uint8_t StepDirection;
+
+} __attribute__((packed)) ExampleSettingsData;
+
+// Field information
+// Field UpdatePeriod information
+// Field StepSize information
+// Field StepDirection information
+/* Enumeration options for field StepDirection */
+typedef enum { EXAMPLESETTINGS_STEPDIRECTION_UP=0, EXAMPLESETTINGS_STEPDIRECTION_DOWN=1,  } ExampleSettingsStepDirectionOptions;
+
+
+// Generic interface functions
+int32_t ExampleSettingsInitialize();
+UAVObjHandle ExampleSettingsHandle();
+
+#endif // EXAMPLESETTINGS_H

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

@@ -0,0 +1,76 @@
+/**
+ ******************************************************************************
+ *
+ * @file       flightbatterystate.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the FlightBatteryState object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: flightbatterystate.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef FLIGHTBATTERYSTATE_H
+#define FLIGHTBATTERYSTATE_H
+
+// Object constants
+#define FLIGHTBATTERYSTATE_OBJID 144318184U
+#define FLIGHTBATTERYSTATE_NAME "FlightBatteryState"
+#define FLIGHTBATTERYSTATE_METANAME "FlightBatteryStateMeta"
+#define FLIGHTBATTERYSTATE_ISSINGLEINST 1
+#define FLIGHTBATTERYSTATE_ISSETTINGS 0
+#define FLIGHTBATTERYSTATE_NUMBYTES sizeof(FlightBatteryStateData)
+
+// Object access macros
+#define FlightBatteryStateGet(dataOut) UAVObjGetData(FlightBatteryStateHandle(), dataOut)
+#define FlightBatteryStateSet(dataIn) UAVObjSetData(FlightBatteryStateHandle(), dataIn)
+#define FlightBatteryStateInstGet(instId, dataOut) UAVObjGetInstanceData(FlightBatteryStateHandle(), instId, dataOut)
+#define FlightBatteryStateInstSet(instId, dataIn) UAVObjSetInstanceData(FlightBatteryStateHandle(), instId, dataIn)
+#define FlightBatteryStateConnectQueue(queue) UAVObjConnectQueue(FlightBatteryStateHandle(), queue, EV_MASK_ALL_UPDATES)
+#define FlightBatteryStateConnectCallback(cb) UAVObjConnectCallback(FlightBatteryStateHandle(), cb, EV_MASK_ALL_UPDATES)
+#define FlightBatteryStateCreateInstance() UAVObjCreateInstance(FlightBatteryStateHandle())
+#define FlightBatteryStateRequestUpdate() UAVObjRequestUpdate(FlightBatteryStateHandle())
+#define FlightBatteryStateRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(FlightBatteryStateHandle(), instId)
+#define FlightBatteryStateUpdated() UAVObjUpdated(FlightBatteryStateHandle())
+#define FlightBatteryStateInstUpdated(instId) UAVObjUpdated(FlightBatteryStateHandle(), instId)
+#define FlightBatteryStateGetMetadata(dataOut) UAVObjGetMetadata(FlightBatteryStateHandle(), dataOut)
+#define FlightBatteryStateSetMetadata(dataIn) UAVObjSetMetadata(FlightBatteryStateHandle(), dataIn)
+
+// Object data
+typedef struct {
+    float Voltage;
+    float Current;
+    uint32_t ConsumedEnergy;
+
+} __attribute__((packed)) FlightBatteryStateData;
+
+// Field information
+// Field Voltage information
+// Field Current information
+// Field ConsumedEnergy information
+
+
+// Generic interface functions
+int32_t FlightBatteryStateInitialize();
+UAVObjHandle FlightBatteryStateHandle();
+
+#endif // FLIGHTBATTERYSTATE_H

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

@@ -0,0 +1,84 @@
+/**
+ ******************************************************************************
+ *
+ * @file       flighttelemetrystats.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the FlightTelemetryStats object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: flighttelemetrystats.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef FLIGHTTELEMETRYSTATS_H
+#define FLIGHTTELEMETRYSTATS_H
+
+// Object constants
+#define FLIGHTTELEMETRYSTATS_OBJID 1712072286U
+#define FLIGHTTELEMETRYSTATS_NAME "FlightTelemetryStats"
+#define FLIGHTTELEMETRYSTATS_METANAME "FlightTelemetryStatsMeta"
+#define FLIGHTTELEMETRYSTATS_ISSINGLEINST 1
+#define FLIGHTTELEMETRYSTATS_ISSETTINGS 0
+#define FLIGHTTELEMETRYSTATS_NUMBYTES sizeof(FlightTelemetryStatsData)
+
+// Object access macros
+#define FlightTelemetryStatsGet(dataOut) UAVObjGetData(FlightTelemetryStatsHandle(), dataOut)
+#define FlightTelemetryStatsSet(dataIn) UAVObjSetData(FlightTelemetryStatsHandle(), dataIn)
+#define FlightTelemetryStatsInstGet(instId, dataOut) UAVObjGetInstanceData(FlightTelemetryStatsHandle(), instId, dataOut)
+#define FlightTelemetryStatsInstSet(instId, dataIn) UAVObjSetInstanceData(FlightTelemetryStatsHandle(), instId, dataIn)
+#define FlightTelemetryStatsConnectQueue(queue) UAVObjConnectQueue(FlightTelemetryStatsHandle(), queue, EV_MASK_ALL_UPDATES)
+#define FlightTelemetryStatsConnectCallback(cb) UAVObjConnectCallback(FlightTelemetryStatsHandle(), cb, EV_MASK_ALL_UPDATES)
+#define FlightTelemetryStatsCreateInstance() UAVObjCreateInstance(FlightTelemetryStatsHandle())
+#define FlightTelemetryStatsRequestUpdate() UAVObjRequestUpdate(FlightTelemetryStatsHandle())
+#define FlightTelemetryStatsRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(FlightTelemetryStatsHandle(), instId)
+#define FlightTelemetryStatsUpdated() UAVObjUpdated(FlightTelemetryStatsHandle())
+#define FlightTelemetryStatsInstUpdated(instId) UAVObjUpdated(FlightTelemetryStatsHandle(), instId)
+#define FlightTelemetryStatsGetMetadata(dataOut) UAVObjGetMetadata(FlightTelemetryStatsHandle(), dataOut)
+#define FlightTelemetryStatsSetMetadata(dataIn) UAVObjSetMetadata(FlightTelemetryStatsHandle(), dataIn)
+
+// Object data
+typedef struct {
+    uint8_t Status;
+    float TxDataRate;
+    float RxDataRate;
+    uint32_t TxFailures;
+    uint32_t RxFailures;
+    uint32_t TxRetries;
+
+} __attribute__((packed)) FlightTelemetryStatsData;
+
+// Field information
+// Field Status information
+/* Enumeration options for field Status */
+typedef enum { FLIGHTTELEMETRYSTATS_STATUS_DISCONNECTED=0, FLIGHTTELEMETRYSTATS_STATUS_HANDSHAKEREQ=1, FLIGHTTELEMETRYSTATS_STATUS_HANDSHAKEACK=2, FLIGHTTELEMETRYSTATS_STATUS_CONNECTED=3,  } FlightTelemetryStatsStatusOptions;
+// Field TxDataRate information
+// Field RxDataRate information
+// Field TxFailures information
+// Field RxFailures information
+// Field TxRetries information
+
+
+// Generic interface functions
+int32_t FlightTelemetryStatsInitialize();
+UAVObjHandle FlightTelemetryStatsHandle();
+
+#endif // FLIGHTTELEMETRYSTATS_H

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

@@ -0,0 +1,84 @@
+/**
+ ******************************************************************************
+ *
+ * @file       gcstelemetrystats.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the GCSTelemetryStats object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: gcstelemetrystats.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef GCSTELEMETRYSTATS_H
+#define GCSTELEMETRYSTATS_H
+
+// Object constants
+#define GCSTELEMETRYSTATS_OBJID 1998458950U
+#define GCSTELEMETRYSTATS_NAME "GCSTelemetryStats"
+#define GCSTELEMETRYSTATS_METANAME "GCSTelemetryStatsMeta"
+#define GCSTELEMETRYSTATS_ISSINGLEINST 1
+#define GCSTELEMETRYSTATS_ISSETTINGS 0
+#define GCSTELEMETRYSTATS_NUMBYTES sizeof(GCSTelemetryStatsData)
+
+// Object access macros
+#define GCSTelemetryStatsGet(dataOut) UAVObjGetData(GCSTelemetryStatsHandle(), dataOut)
+#define GCSTelemetryStatsSet(dataIn) UAVObjSetData(GCSTelemetryStatsHandle(), dataIn)
+#define GCSTelemetryStatsInstGet(instId, dataOut) UAVObjGetInstanceData(GCSTelemetryStatsHandle(), instId, dataOut)
+#define GCSTelemetryStatsInstSet(instId, dataIn) UAVObjSetInstanceData(GCSTelemetryStatsHandle(), instId, dataIn)
+#define GCSTelemetryStatsConnectQueue(queue) UAVObjConnectQueue(GCSTelemetryStatsHandle(), queue, EV_MASK_ALL_UPDATES)
+#define GCSTelemetryStatsConnectCallback(cb) UAVObjConnectCallback(GCSTelemetryStatsHandle(), cb, EV_MASK_ALL_UPDATES)
+#define GCSTelemetryStatsCreateInstance() UAVObjCreateInstance(GCSTelemetryStatsHandle())
+#define GCSTelemetryStatsRequestUpdate() UAVObjRequestUpdate(GCSTelemetryStatsHandle())
+#define GCSTelemetryStatsRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(GCSTelemetryStatsHandle(), instId)
+#define GCSTelemetryStatsUpdated() UAVObjUpdated(GCSTelemetryStatsHandle())
+#define GCSTelemetryStatsInstUpdated(instId) UAVObjUpdated(GCSTelemetryStatsHandle(), instId)
+#define GCSTelemetryStatsGetMetadata(dataOut) UAVObjGetMetadata(GCSTelemetryStatsHandle(), dataOut)
+#define GCSTelemetryStatsSetMetadata(dataIn) UAVObjSetMetadata(GCSTelemetryStatsHandle(), dataIn)
+
+// Object data
+typedef struct {
+    uint8_t Status;
+    float TxDataRate;
+    float RxDataRate;
+    uint32_t TxFailures;
+    uint32_t RxFailures;
+    uint32_t TxRetries;
+
+} __attribute__((packed)) GCSTelemetryStatsData;
+
+// Field information
+// Field Status information
+/* Enumeration options for field Status */
+typedef enum { GCSTELEMETRYSTATS_STATUS_DISCONNECTED=0, GCSTELEMETRYSTATS_STATUS_HANDSHAKEREQ=1, GCSTELEMETRYSTATS_STATUS_HANDSHAKEACK=2, GCSTELEMETRYSTATS_STATUS_CONNECTED=3,  } GCSTelemetryStatsStatusOptions;
+// Field TxDataRate information
+// Field RxDataRate information
+// Field TxFailures information
+// Field RxFailures information
+// Field TxRetries information
+
+
+// Generic interface functions
+int32_t GCSTelemetryStatsInitialize();
+UAVObjHandle GCSTelemetryStatsHandle();
+
+#endif // GCSTELEMETRYSTATS_H

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

@@ -0,0 +1,90 @@
+/**
+ ******************************************************************************
+ *
+ * @file       manualcontrolcommand.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the ManualControlCommand object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: manualcontrolcommand.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef MANUALCONTROLCOMMAND_H
+#define MANUALCONTROLCOMMAND_H
+
+// Object constants
+#define MANUALCONTROLCOMMAND_OBJID 990495372U
+#define MANUALCONTROLCOMMAND_NAME "ManualControlCommand"
+#define MANUALCONTROLCOMMAND_METANAME "ManualControlCommandMeta"
+#define MANUALCONTROLCOMMAND_ISSINGLEINST 1
+#define MANUALCONTROLCOMMAND_ISSETTINGS 0
+#define MANUALCONTROLCOMMAND_NUMBYTES sizeof(ManualControlCommandData)
+
+// Object access macros
+#define ManualControlCommandGet(dataOut) UAVObjGetData(ManualControlCommandHandle(), dataOut)
+#define ManualControlCommandSet(dataIn) UAVObjSetData(ManualControlCommandHandle(), dataIn)
+#define ManualControlCommandInstGet(instId, dataOut) UAVObjGetInstanceData(ManualControlCommandHandle(), instId, dataOut)
+#define ManualControlCommandInstSet(instId, dataIn) UAVObjSetInstanceData(ManualControlCommandHandle(), instId, dataIn)
+#define ManualControlCommandConnectQueue(queue) UAVObjConnectQueue(ManualControlCommandHandle(), queue, EV_MASK_ALL_UPDATES)
+#define ManualControlCommandConnectCallback(cb) UAVObjConnectCallback(ManualControlCommandHandle(), cb, EV_MASK_ALL_UPDATES)
+#define ManualControlCommandCreateInstance() UAVObjCreateInstance(ManualControlCommandHandle())
+#define ManualControlCommandRequestUpdate() UAVObjRequestUpdate(ManualControlCommandHandle())
+#define ManualControlCommandRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(ManualControlCommandHandle(), instId)
+#define ManualControlCommandUpdated() UAVObjUpdated(ManualControlCommandHandle())
+#define ManualControlCommandInstUpdated(instId) UAVObjUpdated(ManualControlCommandHandle(), instId)
+#define ManualControlCommandGetMetadata(dataOut) UAVObjGetMetadata(ManualControlCommandHandle(), dataOut)
+#define ManualControlCommandSetMetadata(dataIn) UAVObjSetMetadata(ManualControlCommandHandle(), dataIn)
+
+// Object data
+typedef struct {
+    uint8_t Connected;
+    float Roll;
+    float Pitch;
+    float Yaw;
+    float Throttle;
+    uint8_t FlightMode;
+    int16_t Channel[8];
+
+} __attribute__((packed)) ManualControlCommandData;
+
+// Field information
+// Field Connected information
+/* Enumeration options for field Connected */
+typedef enum { MANUALCONTROLCOMMAND_CONNECTED_FALSE=0, MANUALCONTROLCOMMAND_CONNECTED_TRUE=1,  } ManualControlCommandConnectedOptions;
+// Field Roll information
+// Field Pitch information
+// Field Yaw information
+// Field Throttle information
+// Field FlightMode information
+/* Enumeration options for field FlightMode */
+typedef enum { MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL=0, MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED=1, MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO=2,  } ManualControlCommandFlightModeOptions;
+// Field Channel information
+/* Number of elements for field Channel */
+#define MANUALCONTROLCOMMAND_CHANNEL_NUMELEM 8
+
+
+// Generic interface functions
+int32_t ManualControlCommandInitialize();
+UAVObjHandle ManualControlCommandHandle();
+
+#endif // MANUALCONTROLCOMMAND_H

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

@@ -0,0 +1,106 @@
+/**
+ ******************************************************************************
+ *
+ * @file       manualcontrolsettings.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the ManualControlSettings object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: manualcontrolsettings.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef MANUALCONTROLSETTINGS_H
+#define MANUALCONTROLSETTINGS_H
+
+// Object constants
+#define MANUALCONTROLSETTINGS_OBJID 2933673028U
+#define MANUALCONTROLSETTINGS_NAME "ManualControlSettings"
+#define MANUALCONTROLSETTINGS_METANAME "ManualControlSettingsMeta"
+#define MANUALCONTROLSETTINGS_ISSINGLEINST 1
+#define MANUALCONTROLSETTINGS_ISSETTINGS 1
+#define MANUALCONTROLSETTINGS_NUMBYTES sizeof(ManualControlSettingsData)
+
+// Object access macros
+#define ManualControlSettingsGet(dataOut) UAVObjGetData(ManualControlSettingsHandle(), dataOut)
+#define ManualControlSettingsSet(dataIn) UAVObjSetData(ManualControlSettingsHandle(), dataIn)
+#define ManualControlSettingsInstGet(instId, dataOut) UAVObjGetInstanceData(ManualControlSettingsHandle(), instId, dataOut)
+#define ManualControlSettingsInstSet(instId, dataIn) UAVObjSetInstanceData(ManualControlSettingsHandle(), instId, dataIn)
+#define ManualControlSettingsConnectQueue(queue) UAVObjConnectQueue(ManualControlSettingsHandle(), queue, EV_MASK_ALL_UPDATES)
+#define ManualControlSettingsConnectCallback(cb) UAVObjConnectCallback(ManualControlSettingsHandle(), cb, EV_MASK_ALL_UPDATES)
+#define ManualControlSettingsCreateInstance() UAVObjCreateInstance(ManualControlSettingsHandle())
+#define ManualControlSettingsRequestUpdate() UAVObjRequestUpdate(ManualControlSettingsHandle())
+#define ManualControlSettingsRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(ManualControlSettingsHandle(), instId)
+#define ManualControlSettingsUpdated() UAVObjUpdated(ManualControlSettingsHandle())
+#define ManualControlSettingsInstUpdated(instId) UAVObjUpdated(ManualControlSettingsHandle(), instId)
+#define ManualControlSettingsGetMetadata(dataOut) UAVObjGetMetadata(ManualControlSettingsHandle(), dataOut)
+#define ManualControlSettingsSetMetadata(dataIn) UAVObjSetMetadata(ManualControlSettingsHandle(), dataIn)
+
+// Object data
+typedef struct {
+    uint8_t InputMode;
+    uint8_t Roll;
+    uint8_t Pitch;
+    uint8_t Yaw;
+    uint8_t Throttle;
+    uint8_t FlightMode;
+    int16_t ChannelMax[8];
+    int16_t ChannelNeutral[8];
+    int16_t ChannelMin[8];
+
+} __attribute__((packed)) ManualControlSettingsData;
+
+// Field information
+// Field InputMode information
+/* Enumeration options for field InputMode */
+typedef enum { MANUALCONTROLSETTINGS_INPUTMODE_PWM=0, MANUALCONTROLSETTINGS_INPUTMODE_PPM=1, MANUALCONTROLSETTINGS_INPUTMODE_SPEKTRUM=2,  } ManualControlSettingsInputModeOptions;
+// Field Roll information
+/* Enumeration options for field Roll */
+typedef enum { MANUALCONTROLSETTINGS_ROLL_CHANNEL0=0, MANUALCONTROLSETTINGS_ROLL_CHANNEL1=1, MANUALCONTROLSETTINGS_ROLL_CHANNEL2=2, MANUALCONTROLSETTINGS_ROLL_CHANNEL3=3, MANUALCONTROLSETTINGS_ROLL_CHANNEL4=4, MANUALCONTROLSETTINGS_ROLL_CHANNEL5=5, MANUALCONTROLSETTINGS_ROLL_CHANNEL6=6, MANUALCONTROLSETTINGS_ROLL_CHANNEL7=7, MANUALCONTROLSETTINGS_ROLL_NONE=8,  } ManualControlSettingsRollOptions;
+// Field Pitch information
+/* Enumeration options for field Pitch */
+typedef enum { MANUALCONTROLSETTINGS_PITCH_CHANNEL0=0, MANUALCONTROLSETTINGS_PITCH_CHANNEL1=1, MANUALCONTROLSETTINGS_PITCH_CHANNEL2=2, MANUALCONTROLSETTINGS_PITCH_CHANNEL3=3, MANUALCONTROLSETTINGS_PITCH_CHANNEL4=4, MANUALCONTROLSETTINGS_PITCH_CHANNEL5=5, MANUALCONTROLSETTINGS_PITCH_CHANNEL6=6, MANUALCONTROLSETTINGS_PITCH_CHANNEL7=7, MANUALCONTROLSETTINGS_PITCH_NONE=8,  } ManualControlSettingsPitchOptions;
+// Field Yaw information
+/* Enumeration options for field Yaw */
+typedef enum { MANUALCONTROLSETTINGS_YAW_CHANNEL0=0, MANUALCONTROLSETTINGS_YAW_CHANNEL1=1, MANUALCONTROLSETTINGS_YAW_CHANNEL2=2, MANUALCONTROLSETTINGS_YAW_CHANNEL3=3, MANUALCONTROLSETTINGS_YAW_CHANNEL4=4, MANUALCONTROLSETTINGS_YAW_CHANNEL5=5, MANUALCONTROLSETTINGS_YAW_CHANNEL6=6, MANUALCONTROLSETTINGS_YAW_CHANNEL7=7, MANUALCONTROLSETTINGS_YAW_NONE=8,  } ManualControlSettingsYawOptions;
+// Field Throttle information
+/* Enumeration options for field Throttle */
+typedef enum { MANUALCONTROLSETTINGS_THROTTLE_CHANNEL0=0, MANUALCONTROLSETTINGS_THROTTLE_CHANNEL1=1, MANUALCONTROLSETTINGS_THROTTLE_CHANNEL2=2, MANUALCONTROLSETTINGS_THROTTLE_CHANNEL3=3, MANUALCONTROLSETTINGS_THROTTLE_CHANNEL4=4, MANUALCONTROLSETTINGS_THROTTLE_CHANNEL5=5, MANUALCONTROLSETTINGS_THROTTLE_CHANNEL6=6, MANUALCONTROLSETTINGS_THROTTLE_CHANNEL7=7, MANUALCONTROLSETTINGS_THROTTLE_NONE=8,  } ManualControlSettingsThrottleOptions;
+// Field FlightMode information
+/* Enumeration options for field FlightMode */
+typedef enum { MANUALCONTROLSETTINGS_FLIGHTMODE_CHANNEL0=0, MANUALCONTROLSETTINGS_FLIGHTMODE_CHANNEL1=1, MANUALCONTROLSETTINGS_FLIGHTMODE_CHANNEL2=2, MANUALCONTROLSETTINGS_FLIGHTMODE_CHANNEL3=3, MANUALCONTROLSETTINGS_FLIGHTMODE_CHANNEL4=4, MANUALCONTROLSETTINGS_FLIGHTMODE_CHANNEL5=5, MANUALCONTROLSETTINGS_FLIGHTMODE_CHANNEL6=6, MANUALCONTROLSETTINGS_FLIGHTMODE_CHANNEL7=7, MANUALCONTROLSETTINGS_FLIGHTMODE_NONE=8,  } ManualControlSettingsFlightModeOptions;
+// Field ChannelMax information
+/* Number of elements for field ChannelMax */
+#define MANUALCONTROLSETTINGS_CHANNELMAX_NUMELEM 8
+// Field ChannelNeutral information
+/* Number of elements for field ChannelNeutral */
+#define MANUALCONTROLSETTINGS_CHANNELNEUTRAL_NUMELEM 8
+// Field ChannelMin information
+/* Number of elements for field ChannelMin */
+#define MANUALCONTROLSETTINGS_CHANNELMIN_NUMELEM 8
+
+
+// Generic interface functions
+int32_t ManualControlSettingsInitialize();
+UAVObjHandle ManualControlSettingsHandle();
+
+#endif // MANUALCONTROLSETTINGS_H

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

@@ -0,0 +1,82 @@
+/**
+ ******************************************************************************
+ *
+ * @file       objectpersistence.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the ObjectPersistence object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: objectpersistence.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef OBJECTPERSISTENCE_H
+#define OBJECTPERSISTENCE_H
+
+// Object constants
+#define OBJECTPERSISTENCE_OBJID 572614706U
+#define OBJECTPERSISTENCE_NAME "ObjectPersistence"
+#define OBJECTPERSISTENCE_METANAME "ObjectPersistenceMeta"
+#define OBJECTPERSISTENCE_ISSINGLEINST 1
+#define OBJECTPERSISTENCE_ISSETTINGS 0
+#define OBJECTPERSISTENCE_NUMBYTES sizeof(ObjectPersistenceData)
+
+// Object access macros
+#define ObjectPersistenceGet(dataOut) UAVObjGetData(ObjectPersistenceHandle(), dataOut)
+#define ObjectPersistenceSet(dataIn) UAVObjSetData(ObjectPersistenceHandle(), dataIn)
+#define ObjectPersistenceInstGet(instId, dataOut) UAVObjGetInstanceData(ObjectPersistenceHandle(), instId, dataOut)
+#define ObjectPersistenceInstSet(instId, dataIn) UAVObjSetInstanceData(ObjectPersistenceHandle(), instId, dataIn)
+#define ObjectPersistenceConnectQueue(queue) UAVObjConnectQueue(ObjectPersistenceHandle(), queue, EV_MASK_ALL_UPDATES)
+#define ObjectPersistenceConnectCallback(cb) UAVObjConnectCallback(ObjectPersistenceHandle(), cb, EV_MASK_ALL_UPDATES)
+#define ObjectPersistenceCreateInstance() UAVObjCreateInstance(ObjectPersistenceHandle())
+#define ObjectPersistenceRequestUpdate() UAVObjRequestUpdate(ObjectPersistenceHandle())
+#define ObjectPersistenceRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(ObjectPersistenceHandle(), instId)
+#define ObjectPersistenceUpdated() UAVObjUpdated(ObjectPersistenceHandle())
+#define ObjectPersistenceInstUpdated(instId) UAVObjUpdated(ObjectPersistenceHandle(), instId)
+#define ObjectPersistenceGetMetadata(dataOut) UAVObjGetMetadata(ObjectPersistenceHandle(), dataOut)
+#define ObjectPersistenceSetMetadata(dataIn) UAVObjSetMetadata(ObjectPersistenceHandle(), dataIn)
+
+// Object data
+typedef struct {
+    uint8_t Operation;
+    uint8_t Selection;
+    uint32_t ObjectID;
+    uint32_t InstanceID;
+
+} __attribute__((packed)) ObjectPersistenceData;
+
+// Field information
+// Field Operation information
+/* Enumeration options for field Operation */
+typedef enum { OBJECTPERSISTENCE_OPERATION_LOAD=0, OBJECTPERSISTENCE_OPERATION_SAVE=1, OBJECTPERSISTENCE_OPERATION_DELETE=2,  } ObjectPersistenceOperationOptions;
+// Field Selection information
+/* Enumeration options for field Selection */
+typedef enum { OBJECTPERSISTENCE_SELECTION_SINGLEOBJECT=0, OBJECTPERSISTENCE_SELECTION_ALLSETTINGS=1, OBJECTPERSISTENCE_SELECTION_ALLMETAOBJECTS=2, OBJECTPERSISTENCE_SELECTION_ALLOBJECTS=3,  } ObjectPersistenceSelectionOptions;
+// Field ObjectID information
+// Field InstanceID information
+
+
+// Generic interface functions
+int32_t ObjectPersistenceInitialize();
+UAVObjHandle ObjectPersistenceHandle();
+
+#endif // OBJECTPERSISTENCE_H

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

@@ -0,0 +1,92 @@
+/**
+ ******************************************************************************
+ *
+ * @file       positionactual.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the PositionActual object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: positionactual.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef POSITIONACTUAL_H
+#define POSITIONACTUAL_H
+
+// Object constants
+#define POSITIONACTUAL_OBJID 981132812U
+#define POSITIONACTUAL_NAME "PositionActual"
+#define POSITIONACTUAL_METANAME "PositionActualMeta"
+#define POSITIONACTUAL_ISSINGLEINST 1
+#define POSITIONACTUAL_ISSETTINGS 0
+#define POSITIONACTUAL_NUMBYTES sizeof(PositionActualData)
+
+// Object access macros
+#define PositionActualGet(dataOut) UAVObjGetData(PositionActualHandle(), dataOut)
+#define PositionActualSet(dataIn) UAVObjSetData(PositionActualHandle(), dataIn)
+#define PositionActualInstGet(instId, dataOut) UAVObjGetInstanceData(PositionActualHandle(), instId, dataOut)
+#define PositionActualInstSet(instId, dataIn) UAVObjSetInstanceData(PositionActualHandle(), instId, dataIn)
+#define PositionActualConnectQueue(queue) UAVObjConnectQueue(PositionActualHandle(), queue, EV_MASK_ALL_UPDATES)
+#define PositionActualConnectCallback(cb) UAVObjConnectCallback(PositionActualHandle(), cb, EV_MASK_ALL_UPDATES)
+#define PositionActualCreateInstance() UAVObjCreateInstance(PositionActualHandle())
+#define PositionActualRequestUpdate() UAVObjRequestUpdate(PositionActualHandle())
+#define PositionActualRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(PositionActualHandle(), instId)
+#define PositionActualUpdated() UAVObjUpdated(PositionActualHandle())
+#define PositionActualInstUpdated(instId) UAVObjUpdated(PositionActualHandle(), instId)
+#define PositionActualGetMetadata(dataOut) UAVObjGetMetadata(PositionActualHandle(), dataOut)
+#define PositionActualSetMetadata(dataIn) UAVObjSetMetadata(PositionActualHandle(), dataIn)
+
+// Object data
+typedef struct {
+    uint8_t Status;
+    float Latitude;
+    float Longitude;
+    float Altitude;
+    float Heading;
+    float Groundspeed;
+    int8_t Satellites;
+    float PDOP;
+    float HDOP;
+    float VDOP;
+
+} __attribute__((packed)) PositionActualData;
+
+// Field information
+// Field Status information
+/* Enumeration options for field Status */
+typedef enum { POSITIONACTUAL_STATUS_NOGPS=0, POSITIONACTUAL_STATUS_NOFIX=1, POSITIONACTUAL_STATUS_FIX2D=2, POSITIONACTUAL_STATUS_FIX3D=3,  } PositionActualStatusOptions;
+// Field Latitude information
+// Field Longitude information
+// Field Altitude information
+// Field Heading information
+// Field Groundspeed information
+// Field Satellites information
+// Field PDOP information
+// Field HDOP information
+// Field VDOP information
+
+
+// Generic interface functions
+int32_t PositionActualInitialize();
+UAVObjHandle PositionActualHandle();
+
+#endif // POSITIONACTUAL_H

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

@@ -0,0 +1,96 @@
+/**
+ ******************************************************************************
+ *
+ * @file       stabilizationsettings.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the StabilizationSettings object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: stabilizationsettings.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef STABILIZATIONSETTINGS_H
+#define STABILIZATIONSETTINGS_H
+
+// Object constants
+#define STABILIZATIONSETTINGS_OBJID 2185681924U
+#define STABILIZATIONSETTINGS_NAME "StabilizationSettings"
+#define STABILIZATIONSETTINGS_METANAME "StabilizationSettingsMeta"
+#define STABILIZATIONSETTINGS_ISSINGLEINST 1
+#define STABILIZATIONSETTINGS_ISSETTINGS 1
+#define STABILIZATIONSETTINGS_NUMBYTES sizeof(StabilizationSettingsData)
+
+// Object access macros
+#define StabilizationSettingsGet(dataOut) UAVObjGetData(StabilizationSettingsHandle(), dataOut)
+#define StabilizationSettingsSet(dataIn) UAVObjSetData(StabilizationSettingsHandle(), dataIn)
+#define StabilizationSettingsInstGet(instId, dataOut) UAVObjGetInstanceData(StabilizationSettingsHandle(), instId, dataOut)
+#define StabilizationSettingsInstSet(instId, dataIn) UAVObjSetInstanceData(StabilizationSettingsHandle(), instId, dataIn)
+#define StabilizationSettingsConnectQueue(queue) UAVObjConnectQueue(StabilizationSettingsHandle(), queue, EV_MASK_ALL_UPDATES)
+#define StabilizationSettingsConnectCallback(cb) UAVObjConnectCallback(StabilizationSettingsHandle(), cb, EV_MASK_ALL_UPDATES)
+#define StabilizationSettingsCreateInstance() UAVObjCreateInstance(StabilizationSettingsHandle())
+#define StabilizationSettingsRequestUpdate() UAVObjRequestUpdate(StabilizationSettingsHandle())
+#define StabilizationSettingsRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(StabilizationSettingsHandle(), instId)
+#define StabilizationSettingsUpdated() UAVObjUpdated(StabilizationSettingsHandle())
+#define StabilizationSettingsInstUpdated(instId) UAVObjUpdated(StabilizationSettingsHandle(), instId)
+#define StabilizationSettingsGetMetadata(dataOut) UAVObjGetMetadata(StabilizationSettingsHandle(), dataOut)
+#define StabilizationSettingsSetMetadata(dataIn) UAVObjSetMetadata(StabilizationSettingsHandle(), dataIn)
+
+// Object data
+typedef struct {
+    uint16_t UpdatePeriod;
+    float RollMax;
+    float PitchMax;
+    float ThrottleMax;
+    float PitchKp;
+    float PitchKi;
+    float PitchKd;
+    float RollKp;
+    float RollKi;
+    float RollKd;
+    float YawKp;
+    float YawKi;
+    float YawKd;
+
+} __attribute__((packed)) StabilizationSettingsData;
+
+// Field information
+// Field UpdatePeriod information
+// Field RollMax information
+// Field PitchMax information
+// Field ThrottleMax information
+// Field PitchKp information
+// Field PitchKi information
+// Field PitchKd information
+// Field RollKp information
+// Field RollKi information
+// Field RollKd information
+// Field YawKp information
+// Field YawKi information
+// Field YawKd information
+
+
+// Generic interface functions
+int32_t StabilizationSettingsInitialize();
+UAVObjHandle StabilizationSettingsHandle();
+
+#endif // STABILIZATIONSETTINGS_H

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

@@ -0,0 +1,78 @@
+/**
+ ******************************************************************************
+ *
+ * @file       systemalarms.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the SystemAlarms object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: systemalarms.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef SYSTEMALARMS_H
+#define SYSTEMALARMS_H
+
+// Object constants
+#define SYSTEMALARMS_OBJID 2311311520U
+#define SYSTEMALARMS_NAME "SystemAlarms"
+#define SYSTEMALARMS_METANAME "SystemAlarmsMeta"
+#define SYSTEMALARMS_ISSINGLEINST 1
+#define SYSTEMALARMS_ISSETTINGS 0
+#define SYSTEMALARMS_NUMBYTES sizeof(SystemAlarmsData)
+
+// Object access macros
+#define SystemAlarmsGet(dataOut) UAVObjGetData(SystemAlarmsHandle(), dataOut)
+#define SystemAlarmsSet(dataIn) UAVObjSetData(SystemAlarmsHandle(), dataIn)
+#define SystemAlarmsInstGet(instId, dataOut) UAVObjGetInstanceData(SystemAlarmsHandle(), instId, dataOut)
+#define SystemAlarmsInstSet(instId, dataIn) UAVObjSetInstanceData(SystemAlarmsHandle(), instId, dataIn)
+#define SystemAlarmsConnectQueue(queue) UAVObjConnectQueue(SystemAlarmsHandle(), queue, EV_MASK_ALL_UPDATES)
+#define SystemAlarmsConnectCallback(cb) UAVObjConnectCallback(SystemAlarmsHandle(), cb, EV_MASK_ALL_UPDATES)
+#define SystemAlarmsCreateInstance() UAVObjCreateInstance(SystemAlarmsHandle())
+#define SystemAlarmsRequestUpdate() UAVObjRequestUpdate(SystemAlarmsHandle())
+#define SystemAlarmsRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(SystemAlarmsHandle(), instId)
+#define SystemAlarmsUpdated() UAVObjUpdated(SystemAlarmsHandle())
+#define SystemAlarmsInstUpdated(instId) UAVObjUpdated(SystemAlarmsHandle(), instId)
+#define SystemAlarmsGetMetadata(dataOut) UAVObjGetMetadata(SystemAlarmsHandle(), dataOut)
+#define SystemAlarmsSetMetadata(dataIn) UAVObjSetMetadata(SystemAlarmsHandle(), dataIn)
+
+// Object data
+typedef struct {
+    uint8_t Alarm[9];
+
+} __attribute__((packed)) SystemAlarmsData;
+
+// Field information
+// Field Alarm information
+/* Enumeration options for field Alarm */
+typedef enum { SYSTEMALARMS_ALARM_OK=0, SYSTEMALARMS_ALARM_WARNING=1, SYSTEMALARMS_ALARM_ERROR=2, SYSTEMALARMS_ALARM_CRITICAL=3,  } SystemAlarmsAlarmOptions;
+/* Array element names for field Alarm */
+typedef enum { SYSTEMALARMS_ALARM_OUTOFMEMORY=0, SYSTEMALARMS_ALARM_STACKOVERFLOW=1, SYSTEMALARMS_ALARM_CPUOVERLOAD=2, SYSTEMALARMS_ALARM_EVENTSYSTEM=3, SYSTEMALARMS_ALARM_SDCARD=4, SYSTEMALARMS_ALARM_TELEMETRY=5, SYSTEMALARMS_ALARM_MANUALCONTROL=6, SYSTEMALARMS_ALARM_ACTUATOR=7, SYSTEMALARMS_ALARM_STABILIZATION=8,  } SystemAlarmsAlarmElem;
+/* Number of elements for field Alarm */
+#define SYSTEMALARMS_ALARM_NUMELEM 9
+
+
+// Generic interface functions
+int32_t SystemAlarmsInitialize();
+UAVObjHandle SystemAlarmsHandle();
+
+#endif // SYSTEMALARMS_H

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

@@ -0,0 +1,74 @@
+/**
+ ******************************************************************************
+ *
+ * @file       systemsettings.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the SystemSettings object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: systemsettings.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef SYSTEMSETTINGS_H
+#define SYSTEMSETTINGS_H
+
+// Object constants
+#define SYSTEMSETTINGS_OBJID 59202798U
+#define SYSTEMSETTINGS_NAME "SystemSettings"
+#define SYSTEMSETTINGS_METANAME "SystemSettingsMeta"
+#define SYSTEMSETTINGS_ISSINGLEINST 1
+#define SYSTEMSETTINGS_ISSETTINGS 1
+#define SYSTEMSETTINGS_NUMBYTES sizeof(SystemSettingsData)
+
+// Object access macros
+#define SystemSettingsGet(dataOut) UAVObjGetData(SystemSettingsHandle(), dataOut)
+#define SystemSettingsSet(dataIn) UAVObjSetData(SystemSettingsHandle(), dataIn)
+#define SystemSettingsInstGet(instId, dataOut) UAVObjGetInstanceData(SystemSettingsHandle(), instId, dataOut)
+#define SystemSettingsInstSet(instId, dataIn) UAVObjSetInstanceData(SystemSettingsHandle(), instId, dataIn)
+#define SystemSettingsConnectQueue(queue) UAVObjConnectQueue(SystemSettingsHandle(), queue, EV_MASK_ALL_UPDATES)
+#define SystemSettingsConnectCallback(cb) UAVObjConnectCallback(SystemSettingsHandle(), cb, EV_MASK_ALL_UPDATES)
+#define SystemSettingsCreateInstance() UAVObjCreateInstance(SystemSettingsHandle())
+#define SystemSettingsRequestUpdate() UAVObjRequestUpdate(SystemSettingsHandle())
+#define SystemSettingsRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(SystemSettingsHandle(), instId)
+#define SystemSettingsUpdated() UAVObjUpdated(SystemSettingsHandle())
+#define SystemSettingsInstUpdated(instId) UAVObjUpdated(SystemSettingsHandle(), instId)
+#define SystemSettingsGetMetadata(dataOut) UAVObjGetMetadata(SystemSettingsHandle(), dataOut)
+#define SystemSettingsSetMetadata(dataIn) UAVObjSetMetadata(SystemSettingsHandle(), dataIn)
+
+// Object data
+typedef struct {
+    uint8_t AirframeType;
+
+} __attribute__((packed)) SystemSettingsData;
+
+// Field information
+// Field AirframeType information
+/* Enumeration options for field AirframeType */
+typedef enum { SYSTEMSETTINGS_AIRFRAMETYPE_FIXEDWING=0, SYSTEMSETTINGS_AIRFRAMETYPE_FIXEDWINGELEVON=1, SYSTEMSETTINGS_AIRFRAMETYPE_VTOL=2,  } SystemSettingsAirframeTypeOptions;
+
+
+// Generic interface functions
+int32_t SystemSettingsInitialize();
+UAVObjHandle SystemSettingsHandle();
+
+#endif // SYSTEMSETTINGS_H

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

@@ -0,0 +1,76 @@
+/**
+ ******************************************************************************
+ *
+ * @file       systemstats.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the SystemStats object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: systemstats.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef SYSTEMSTATS_H
+#define SYSTEMSTATS_H
+
+// Object constants
+#define SYSTEMSTATS_OBJID 680908530U
+#define SYSTEMSTATS_NAME "SystemStats"
+#define SYSTEMSTATS_METANAME "SystemStatsMeta"
+#define SYSTEMSTATS_ISSINGLEINST 1
+#define SYSTEMSTATS_ISSETTINGS 0
+#define SYSTEMSTATS_NUMBYTES sizeof(SystemStatsData)
+
+// Object access macros
+#define SystemStatsGet(dataOut) UAVObjGetData(SystemStatsHandle(), dataOut)
+#define SystemStatsSet(dataIn) UAVObjSetData(SystemStatsHandle(), dataIn)
+#define SystemStatsInstGet(instId, dataOut) UAVObjGetInstanceData(SystemStatsHandle(), instId, dataOut)
+#define SystemStatsInstSet(instId, dataIn) UAVObjSetInstanceData(SystemStatsHandle(), instId, dataIn)
+#define SystemStatsConnectQueue(queue) UAVObjConnectQueue(SystemStatsHandle(), queue, EV_MASK_ALL_UPDATES)
+#define SystemStatsConnectCallback(cb) UAVObjConnectCallback(SystemStatsHandle(), cb, EV_MASK_ALL_UPDATES)
+#define SystemStatsCreateInstance() UAVObjCreateInstance(SystemStatsHandle())
+#define SystemStatsRequestUpdate() UAVObjRequestUpdate(SystemStatsHandle())
+#define SystemStatsRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(SystemStatsHandle(), instId)
+#define SystemStatsUpdated() UAVObjUpdated(SystemStatsHandle())
+#define SystemStatsInstUpdated(instId) UAVObjUpdated(SystemStatsHandle(), instId)
+#define SystemStatsGetMetadata(dataOut) UAVObjGetMetadata(SystemStatsHandle(), dataOut)
+#define SystemStatsSetMetadata(dataIn) UAVObjSetMetadata(SystemStatsHandle(), dataIn)
+
+// Object data
+typedef struct {
+    uint32_t FlightTime;
+    uint16_t HeapRemaining;
+    uint8_t CPULoad;
+
+} __attribute__((packed)) SystemStatsData;
+
+// Field information
+// Field FlightTime information
+// Field HeapRemaining information
+// Field CPULoad information
+
+
+// Generic interface functions
+int32_t SystemStatsInitialize();
+UAVObjHandle SystemStatsHandle();
+
+#endif // SYSTEMSTATS_H

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

@@ -0,0 +1,74 @@
+/**
+ ******************************************************************************
+ *
+ * @file       telemetrysettings.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the TelemetrySettings object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: telemetrysettings.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef TELEMETRYSETTINGS_H
+#define TELEMETRYSETTINGS_H
+
+// Object constants
+#define TELEMETRYSETTINGS_OBJID 2785592614U
+#define TELEMETRYSETTINGS_NAME "TelemetrySettings"
+#define TELEMETRYSETTINGS_METANAME "TelemetrySettingsMeta"
+#define TELEMETRYSETTINGS_ISSINGLEINST 1
+#define TELEMETRYSETTINGS_ISSETTINGS 1
+#define TELEMETRYSETTINGS_NUMBYTES sizeof(TelemetrySettingsData)
+
+// Object access macros
+#define TelemetrySettingsGet(dataOut) UAVObjGetData(TelemetrySettingsHandle(), dataOut)
+#define TelemetrySettingsSet(dataIn) UAVObjSetData(TelemetrySettingsHandle(), dataIn)
+#define TelemetrySettingsInstGet(instId, dataOut) UAVObjGetInstanceData(TelemetrySettingsHandle(), instId, dataOut)
+#define TelemetrySettingsInstSet(instId, dataIn) UAVObjSetInstanceData(TelemetrySettingsHandle(), instId, dataIn)
+#define TelemetrySettingsConnectQueue(queue) UAVObjConnectQueue(TelemetrySettingsHandle(), queue, EV_MASK_ALL_UPDATES)
+#define TelemetrySettingsConnectCallback(cb) UAVObjConnectCallback(TelemetrySettingsHandle(), cb, EV_MASK_ALL_UPDATES)
+#define TelemetrySettingsCreateInstance() UAVObjCreateInstance(TelemetrySettingsHandle())
+#define TelemetrySettingsRequestUpdate() UAVObjRequestUpdate(TelemetrySettingsHandle())
+#define TelemetrySettingsRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(TelemetrySettingsHandle(), instId)
+#define TelemetrySettingsUpdated() UAVObjUpdated(TelemetrySettingsHandle())
+#define TelemetrySettingsInstUpdated(instId) UAVObjUpdated(TelemetrySettingsHandle(), instId)
+#define TelemetrySettingsGetMetadata(dataOut) UAVObjGetMetadata(TelemetrySettingsHandle(), dataOut)
+#define TelemetrySettingsSetMetadata(dataIn) UAVObjSetMetadata(TelemetrySettingsHandle(), dataIn)
+
+// Object data
+typedef struct {
+    uint8_t Speed;
+
+} __attribute__((packed)) TelemetrySettingsData;
+
+// Field information
+// Field Speed information
+/* Enumeration options for field Speed */
+typedef enum { TELEMETRYSETTINGS_SPEED_9600=0, TELEMETRYSETTINGS_SPEED_38400=1, TELEMETRYSETTINGS_SPEED_57600=2,  } TelemetrySettingsSpeedOptions;
+
+
+// Generic interface functions
+int32_t TelemetrySettingsInitialize();
+UAVObjHandle TelemetrySettingsHandle();
+
+#endif // TELEMETRYSETTINGS_H

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

@@ -0,0 +1,158 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjectmanager.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Include files of the uavobjectlist library
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef UAVOBJECTMANAGER_H
+#define UAVOBJECTMANAGER_H
+
+#define UAVOBJ_ALL_INSTANCES 0xFFFF
+#define UAVOBJ_MAX_INSTANCES 1000
+
+typedef ptrdiff_t UAVObjHandle;
+
+/**
+ * Object update mode, used by multiple modules (e.g. telemetry and logger)
+ */
+typedef enum {
+	UPDATEMODE_PERIODIC = 0, /** Automatically update object at periodic intervals */
+	UPDATEMODE_ONCHANGE = 1, /** Only update object when its data changes */
+	UPDATEMODE_MANUAL = 2,  /** Manually update object, by calling the updated() function */
+	UPDATEMODE_NEVER = 3 /** Object is never updated */
+} UAVObjUpdateMode;
+
+/**
+ * Object metadata, each object has a meta object that holds its metadata. The metadata define
+ * properties for each object and can be used by multiple modules (e.g. telemetry and logger)
+ */
+typedef struct {
+	uint8_t access; /** Defines the access level for the local transactions (readonly and readwrite) */
+	uint8_t gcsAccess; /** Defines the access level for the local GCS transactions (readonly and readwrite), not used in the flight s/w */
+	uint8_t telemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
+	uint8_t telemetryUpdateMode; /** Update mode used by the telemetry module (UAVObjUpdateMode) */
+	int32_t telemetryUpdatePeriod; /** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */
+	uint8_t gcsTelemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
+	uint8_t gcsTelemetryUpdateMode; /** Update mode used by the GCS (UAVObjUpdateMode) */
+	int32_t gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
+	uint8_t loggingUpdateMode; /** Update mode used by the logging module (UAVObjUpdateMode) */
+	uint32_t loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
+} __attribute__((packed)) UAVObjMetadata;
+
+/**
+ * Event types generated by the objects.
+ */
+typedef enum {
+	EV_UNPACKED = 0x01, /** Object data updated by unpacking */
+    EV_UPDATED = 0x02, /** Object data updated by changing the data structure */
+    EV_UPDATED_MANUAL = 0x04, /** Object update event manually generated */
+    EV_UPDATE_REQ = 0x08 /** Request to update object data */
+} UAVObjEventType;
+
+/**
+ * Helper macros for event masks
+ */
+#define EV_MASK_ALL 0
+#define EV_MASK_ALL_UPDATES (EV_UNPACKED | EV_UPDATED | EV_UPDATED_MANUAL)
+
+/**
+ * Access types
+ */
+typedef enum {
+	ACCESS_READWRITE = 0,
+	ACCESS_READONLY = 1
+} UAVObjAccessType;
+
+/**
+ * Event message, this structure is sent in the event queue each time an event is generated
+ */
+typedef struct {
+	UAVObjHandle obj;
+	uint16_t instId;
+	UAVObjEventType event;
+} UAVObjEvent;
+
+/**
+ * Event callback, this function is called when an event is invoked. The function
+ * will be executed in the event task. The ev parameter should be copied if needed
+ * after the function returns.
+ */
+typedef void (*UAVObjEventCallback)(UAVObjEvent* ev);
+
+/**
+ * Callback used to initialize the object fields to their default values.
+ */
+typedef void (*UAVObjInitializeCallback)(UAVObjHandle obj, uint16_t instId);
+
+/**
+ * Event manager statistics
+ */
+typedef struct {
+	uint32_t eventErrors;
+} UAVObjStats;
+
+int32_t UAVObjInitialize();
+void UAVObjGetStats(UAVObjStats* statsOut);
+void UAVObjClearStats();
+UAVObjHandle UAVObjRegister(uint32_t id, const char* name, const char* metaName, int32_t isMetaobject,
+		int32_t isSingleInstance, int32_t isSettings, uint32_t numBytes, UAVObjInitializeCallback initCb);
+UAVObjHandle UAVObjGetByID(uint32_t id);
+UAVObjHandle UAVObjGetByName(char* name);
+uint32_t UAVObjGetID(UAVObjHandle obj);
+const char* UAVObjGetName(UAVObjHandle obj);
+uint32_t UAVObjGetNumBytes(UAVObjHandle obj);
+uint16_t UAVObjGetNumInstances(UAVObjHandle obj);
+UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj);
+uint16_t UAVObjCreateInstance(UAVObjHandle obj);
+int32_t UAVObjIsSingleInstance(UAVObjHandle obj);
+int32_t UAVObjIsMetaobject(UAVObjHandle obj);
+int32_t UAVObjIsSettings(UAVObjHandle obj);
+int32_t UAVObjUnpack(UAVObjHandle obj, uint16_t instId, const uint8_t* dataIn);
+int32_t UAVObjPack(UAVObjHandle obj, uint16_t instId, uint8_t* dataOut);
+int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId);
+int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId);
+int32_t UAVObjDelete(UAVObjHandle obj, uint16_t instId);
+int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId, FILEINFO* file);
+UAVObjHandle UAVObjLoadFromFile(FILEINFO* file);
+int32_t UAVObjSaveSettings();
+int32_t UAVObjLoadSettings();
+int32_t UAVObjDeleteSettings();
+int32_t UAVObjSaveMetaobjects();
+int32_t UAVObjLoadMetaobjects();
+int32_t UAVObjDeleteMetaobjects();
+int32_t UAVObjSetData(UAVObjHandle obj, const void* dataIn);
+int32_t UAVObjGetData(UAVObjHandle obj, void* dataOut);
+int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId, const void* dataIn);
+int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId, void* dataOut);
+int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata* dataIn);
+int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata* dataOut);
+int32_t UAVObjConnectQueue(UAVObjHandle obj, xQueueHandle queue, int32_t eventMask);
+int32_t UAVObjDisconnectQueue(UAVObjHandle obj, xQueueHandle queue);
+int32_t UAVObjConnectCallback(UAVObjHandle obj, UAVObjEventCallback cb, int32_t eventMask);
+int32_t UAVObjDisconnectCallback(UAVObjHandle obj, UAVObjEventCallback cb);
+void UAVObjRequestUpdate(UAVObjHandle obj);
+void UAVObjRequestInstanceUpdate(UAVObjHandle obj, uint16_t instId);
+void UAVObjUpdated(UAVObjHandle obj);
+void UAVObjInstanceUpdated(UAVObjHandle obj, uint16_t instId);
+void UAVObjIterate(void (*iterator)(UAVObjHandle obj));
+
+#endif // UAVOBJECTMANAGER_H

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

@@ -0,0 +1,32 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjectsinit.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Initialize all objects.
+ * 	       This file is automatically updated by the parser.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef UAVOBJECTSINIT_H
+#define UAVOBJECTSINIT_H
+
+void UAVObjectsInitializeAll();
+
+#endif // UAVOBJECTSINIT_H

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

@@ -0,0 +1,70 @@
+/**
+ ******************************************************************************
+ *
+ * @file       $(NAMELC).h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the $(NAME) object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: $(XMLFILE). 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef $(NAMEUC)_H
+#define $(NAMEUC)_H
+
+// Object constants
+#define $(NAMEUC)_OBJID $(OBJID)U
+#define $(NAMEUC)_NAME "$(NAME)"
+#define $(NAMEUC)_METANAME "$(NAME)Meta"
+#define $(NAMEUC)_ISSINGLEINST $(ISSINGLEINST)
+#define $(NAMEUC)_ISSETTINGS $(ISSETTINGS)
+#define $(NAMEUC)_NUMBYTES sizeof($(NAME)Data)
+
+// Object access macros
+#define $(NAME)Get(dataOut) UAVObjGetData($(NAME)Handle(), dataOut)
+#define $(NAME)Set(dataIn) UAVObjSetData($(NAME)Handle(), dataIn)
+#define $(NAME)InstGet(instId, dataOut) UAVObjGetInstanceData($(NAME)Handle(), instId, dataOut)
+#define $(NAME)InstSet(instId, dataIn) UAVObjSetInstanceData($(NAME)Handle(), instId, dataIn)
+#define $(NAME)ConnectQueue(queue) UAVObjConnectQueue($(NAME)Handle(), queue, EV_MASK_ALL_UPDATES)
+#define $(NAME)ConnectCallback(cb) UAVObjConnectCallback($(NAME)Handle(), cb, EV_MASK_ALL_UPDATES)
+#define $(NAME)CreateInstance() UAVObjCreateInstance($(NAME)Handle())
+#define $(NAME)RequestUpdate() UAVObjRequestUpdate($(NAME)Handle())
+#define $(NAME)RequestInstUpdate(instId) UAVObjRequestInstanceUpdate($(NAME)Handle(), instId)
+#define $(NAME)Updated() UAVObjUpdated($(NAME)Handle())
+#define $(NAME)InstUpdated(instId) UAVObjUpdated($(NAME)Handle(), instId)
+#define $(NAME)GetMetadata(dataOut) UAVObjGetMetadata($(NAME)Handle(), dataOut)
+#define $(NAME)SetMetadata(dataIn) UAVObjSetMetadata($(NAME)Handle(), dataIn)
+
+// Object data
+typedef struct {
+$(DATAFIELDS)
+} __attribute__((packed)) $(NAME)Data;
+
+// Field information
+$(DATAFIELDINFO)
+
+// Generic interface functions
+int32_t $(NAME)Initialize();
+UAVObjHandle $(NAME)Handle();
+
+#endif // $(NAMEUC)_H

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

@@ -0,0 +1,349 @@
+/*
+Copyright (c) 2007-2009, Troy D. Hanson
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
+IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
+PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER
+OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef UTLIST_H
+#define UTLIST_H
+
+#define UTLIST_VERSION 1.8
+
+/* 
+ * This file contains macros to manipulate singly and doubly-linked lists.
+ *
+ * 1. LL_ macros:  singly-linked lists.
+ * 2. DL_ macros:  doubly-linked lists.
+ * 3. CDL_ macros: circular doubly-linked lists.
+ *
+ * To use singly-linked lists, your structure must have a "next" pointer.
+ * To use doubly-linked lists, your structure must "prev" and "next" pointers.
+ * Either way, the pointer to the head of the list must be initialized to NULL.
+ * 
+ * ----------------.EXAMPLE -------------------------
+ * struct item {
+ *      int id;
+ *      struct item *prev, *next;
+ * }
+ *
+ * struct item *list = NULL:
+ *
+ * int main() {
+ *      struct item *item;
+ *      ... allocate and populate item ...
+ *      DL_APPEND(list, item);
+ * }
+ * --------------------------------------------------
+ *
+ * For doubly-linked lists, the append and delete macros are O(1)
+ * For singly-linked lists, append and delete are O(n) but prepend is O(1)
+ * The sort macro is O(n log(n)) for all types of single/double/circular lists.
+ */
+
+/******************************************************************************
+ * The sort macro is an adaptation of Simon Tatham's O(n log(n)) mergesort    *
+ * Unwieldy variable names used here to avoid shadowing passed-in variables.  *
+ *****************************************************************************/
+#define LL_SORT(list, cmp)                             \
+do {                                                                             \
+  __typeof__(list) _ls_p, _ls_q, _ls_e, _ls_tail, _ls_oldhead;              \
+  int _ls_insize, _ls_nmerges, _ls_psize, _ls_qsize, _ls_i, _ls_looping;         \
+  if (list) {                                                                    \
+    _ls_insize = 1;                                                              \
+    _ls_looping = 1;                                                             \
+    while (_ls_looping) {                                                        \
+      _ls_p = list;                                                              \
+      _ls_oldhead = list;                                                        \
+      list = NULL;                                                               \
+      _ls_tail = NULL;                                                           \
+      _ls_nmerges = 0;                                                           \
+      while (_ls_p) {                                                            \
+        _ls_nmerges++;                                                           \
+        _ls_q = _ls_p;                                                           \
+        _ls_psize = 0;                                                           \
+        for (_ls_i = 0; _ls_i < _ls_insize; _ls_i++) {                           \
+          _ls_psize++;                                                           \
+          _ls_q = _ls_q->next;                                             \
+          if (!_ls_q) break;                                                     \
+        }                                                                        \
+        _ls_qsize = _ls_insize;                                                  \
+        while (_ls_psize > 0 || (_ls_qsize > 0 && _ls_q)) {                      \
+          if (_ls_psize == 0) {                                                  \
+            _ls_e = _ls_q; _ls_q = _ls_q->next; _ls_qsize--;                 \
+          } else if (_ls_qsize == 0 || !_ls_q) {                                 \
+            _ls_e = _ls_p; _ls_p = _ls_p->next; _ls_psize--;                 \
+          } else if (cmp(_ls_p,_ls_q) <= 0) {          \
+            _ls_e = _ls_p; _ls_p = _ls_p->next; _ls_psize--;                 \
+          } else {                                                               \
+            _ls_e = _ls_q; _ls_q = _ls_q->next; _ls_qsize--;                 \
+          }                                                                      \
+          if (_ls_tail) {                                                        \
+            _ls_tail->next = _ls_e;                                   \
+          } else {                                                               \
+            list = _ls_e;                                           \
+          }                                                                      \
+          _ls_tail = _ls_e;                                                      \
+        }                                                                        \
+        _ls_p = _ls_q;                                                           \
+      }                                                                          \
+      _ls_tail->next = NULL;                                               \
+      if (_ls_nmerges <= 1) {                                                    \
+        _ls_looping=0;                                                           \
+      }                                                                          \
+      _ls_insize *= 2;                                                           \
+    }                                                                            \
+  }                                                                              \
+} while (0)
+
+#define DL_SORT(list, cmp)                             \
+do {                                                                             \
+  __typeof__(list) _ls_p, _ls_q, _ls_e, _ls_tail, _ls_oldhead;              \
+  int _ls_insize, _ls_nmerges, _ls_psize, _ls_qsize, _ls_i, _ls_looping;         \
+  if (list) {                                                                    \
+    _ls_insize = 1;                                                              \
+    _ls_looping = 1;                                                             \
+    while (_ls_looping) {                                                        \
+      _ls_p = list;                                                              \
+      _ls_oldhead = list;                                                        \
+      list = NULL;                                                               \
+      _ls_tail = NULL;                                                           \
+      _ls_nmerges = 0;                                                           \
+      while (_ls_p) {                                                            \
+        _ls_nmerges++;                                                           \
+        _ls_q = _ls_p;                                                           \
+        _ls_psize = 0;                                                           \
+        for (_ls_i = 0; _ls_i < _ls_insize; _ls_i++) {                           \
+          _ls_psize++;                                                           \
+          _ls_q = _ls_q->next;                                             \
+          if (!_ls_q) break;                                                     \
+        }                                                                        \
+        _ls_qsize = _ls_insize;                                                  \
+        while (_ls_psize > 0 || (_ls_qsize > 0 && _ls_q)) {                      \
+          if (_ls_psize == 0) {                                                  \
+            _ls_e = _ls_q; _ls_q = _ls_q->next; _ls_qsize--;                 \
+          } else if (_ls_qsize == 0 || !_ls_q) {                                 \
+            _ls_e = _ls_p; _ls_p = _ls_p->next; _ls_psize--;                 \
+          } else if (cmp(_ls_p,_ls_q) <= 0) {          \
+            _ls_e = _ls_p; _ls_p = _ls_p->next; _ls_psize--;                 \
+          } else {                                                               \
+            _ls_e = _ls_q; _ls_q = _ls_q->next; _ls_qsize--;                 \
+          }                                                                      \
+          if (_ls_tail) {                                                        \
+            _ls_tail->next = _ls_e;                                   \
+          } else {                                                               \
+            list = _ls_e;                                           \
+          }                                                                      \
+          _ls_e->prev = _ls_tail;                                   \
+          _ls_tail = _ls_e;                                                      \
+        }                                                                        \
+        _ls_p = _ls_q;                                                           \
+      }                                                                          \
+      list->prev = _ls_tail;                                      \
+      _ls_tail->next = NULL;                                               \
+      if (_ls_nmerges <= 1) {                                                    \
+        _ls_looping=0;                                                           \
+      }                                                                          \
+      _ls_insize *= 2;                                                           \
+    }                                                                            \
+  }                                                                              \
+} while (0)
+
+#define CDL_SORT(list, cmp)                             \
+do {                                                                             \
+  __typeof__(list) _ls_p, _ls_q, _ls_e, _ls_tail, _ls_oldhead;              \
+  int _ls_insize, _ls_nmerges, _ls_psize, _ls_qsize, _ls_i, _ls_looping;         \
+  if (list) {                                                                    \
+    _ls_insize = 1;                                                              \
+    _ls_looping = 1;                                                             \
+    while (_ls_looping) {                                                        \
+      _ls_p = list;                                                              \
+      _ls_oldhead = list;                                                        \
+      list = NULL;                                                               \
+      _ls_tail = NULL;                                                           \
+      _ls_nmerges = 0;                                                           \
+      while (_ls_p) {                                                            \
+        _ls_nmerges++;                                                           \
+        _ls_q = _ls_p;                                                           \
+        _ls_psize = 0;                                                           \
+        for (_ls_i = 0; _ls_i < _ls_insize; _ls_i++) {                           \
+          _ls_psize++;                                                           \
+          _ls_q = ((_ls_q->next == _ls_oldhead) ? NULL : _ls_q->next); \
+          if (!_ls_q) break;                                                     \
+        }                                                                        \
+        _ls_qsize = _ls_insize;                                                  \
+        while (_ls_psize > 0 || (_ls_qsize > 0 && _ls_q)) {                      \
+          if (_ls_psize == 0) {                                                  \
+            _ls_e = _ls_q; _ls_q = _ls_q->next; _ls_qsize--;                 \
+            if (_ls_q == _ls_oldhead) { _ls_q = NULL; }           \
+          } else if (_ls_qsize == 0 || !_ls_q) {                                 \
+            _ls_e = _ls_p; _ls_p = _ls_p->next; _ls_psize--;                 \
+            if (_ls_p == _ls_oldhead) { _ls_p = NULL; }         \
+          } else if (cmp(_ls_p,_ls_q) <= 0) {          \
+            _ls_e = _ls_p; _ls_p = _ls_p->next; _ls_psize--;                 \
+            if (_ls_p == _ls_oldhead) { _ls_p = NULL; }         \
+          } else {                                                               \
+            _ls_e = _ls_q; _ls_q = _ls_q->next; _ls_qsize--;                 \
+            if (_ls_q == _ls_oldhead) { _ls_q = NULL; }         \
+          }                                                                      \
+          if (_ls_tail) {                                                        \
+            _ls_tail->next = _ls_e;                                   \
+          } else {                                                               \
+            list = _ls_e;                                           \
+          }                                                                      \
+          _ls_e->prev = _ls_tail;                                   \
+          _ls_tail = _ls_e;                                                      \
+        }                                                                        \
+        _ls_p = _ls_q;                                                           \
+      }                                                                          \
+      list->prev = _ls_tail;                                      \
+      _ls_tail->next = list;                                        \
+      if (_ls_nmerges <= 1) {                                                    \
+        _ls_looping=0;                                                           \
+      }                                                                          \
+      _ls_insize *= 2;                                                           \
+    }                                                                            \
+  }                                                                              \
+} while (0)
+
+/******************************************************************************
+ * singly linked list macros (non-circular)                                   *
+ *****************************************************************************/
+#define LL_PREPEND(head,add)                                                     \
+do {                                                                             \
+  (add)->next = head;                                                            \
+  head = add;                                                                    \
+} while (0)
+
+#define LL_APPEND(head,add)                                                      \
+do {                                                                             \
+  __typeof__(head) _tmp;                                                         \
+  (add)->next=NULL;                                                              \
+  if (head) {                                                                    \
+    _tmp = head;                                                                 \
+    while (_tmp->next) { _tmp = _tmp->next; }         \
+    _tmp->next=(add);                                         \
+  } else {                                                                       \
+    (head)=(add);                                                                \
+  }                                                                              \
+} while (0)
+
+#define LL_DELETE(head,del)                                                      \
+do {                                                                             \
+  __typeof__(head) _tmp;                                                         \
+  if ((head) == (del)) {                                                         \
+    (head)=(head)->next;                                                         \
+  } else {                                                                       \
+    _tmp = head;                                                                 \
+    while (_tmp->next && (_tmp->next != (del))) { \
+      _tmp = _tmp->next;                                         \
+    }                                                                            \
+    if (_tmp->next) {                                                \
+      _tmp->next = ((del)->next);                             \
+    }                                                                            \
+  }                                                                              \
+} while (0)
+
+#define LL_FOREACH(head,el)                                                      \
+    for(el=head;el;el=el->next)
+
+/******************************************************************************
+ * doubly linked list macros (non-circular)                                   *
+ *****************************************************************************/
+#define DL_PREPEND(head,add)                                                     \
+do {                                                                             \
+ (add)->next = head;                                                             \
+ if (head) {                                                                     \
+   (add)->prev = (head)->prev;                                                   \
+   (head)->prev = (add);                                                         \
+ } else {                                                                        \
+   (add)->prev = (add);                                                          \
+ }                                                                               \
+ (head) = (add);                                                                 \
+} while (0)
+
+#define DL_APPEND(head,add)                                                      \
+do {                                                                             \
+  if (head) {                                                                    \
+      (add)->prev = (head)->prev;                                                \
+      (head)->prev->next = (add);                                                \
+      (head)->prev = (add);                                                      \
+      (add)->next = NULL;                                                        \
+  } else {                                                                       \
+      (head)=(add);                                                              \
+      (head)->prev = (head);                                                     \
+      (head)->next = NULL;                                                       \
+  }                                                                              \
+} while (0);
+
+#define DL_DELETE(head,del)                                                      \
+do {                                                                             \
+  if ((del)->prev == (del)) {                                                    \
+      (head)=NULL;                                                               \
+  } else if ((del)==(head)) {                                                    \
+      (del)->next->prev = (del)->prev;                                           \
+      (head) = (del)->next;                                                      \
+  } else {                                                                       \
+      (del)->prev->next = (del)->next;                                           \
+      if ((del)->next) {                                                         \
+          (del)->next->prev = (del)->prev;                                       \
+      } else {                                                                   \
+          (head)->prev = (del)->prev;                                            \
+      }                                                                          \
+  }                                                                              \
+} while (0);
+
+
+#define DL_FOREACH(head,el)                                                      \
+    for(el=head;el;el=el->next)
+
+/******************************************************************************
+ * circular doubly linked list macros                                         *
+ *****************************************************************************/
+#define CDL_PREPEND(head,add)                                                    \
+do {                                                                             \
+ if (head) {                                                                     \
+   (add)->prev = (head)->prev;                                                   \
+   (add)->next = (head);                                                         \
+   (head)->prev = (add);                                                         \
+   (add)->prev->next = (add);                                                    \
+ } else {                                                                        \
+   (add)->prev = (add);                                                          \
+   (add)->next = (add);                                                          \
+ }                                                                               \
+(head)=(add);                                                                    \
+} while (0)
+
+#define CDL_DELETE(head,del)                                                     \
+do {                                                                             \
+  if ( ((head)==(del)) && ((head)->next == (head))) {                            \
+      (head) = 0L;                                                               \
+  } else {                                                                       \
+     (del)->next->prev = (del)->prev;                                            \
+     (del)->prev->next = (del)->next;                                            \
+     if ((del) == (head)) (head)=(del)->next;                                    \
+  }                                                                              \
+} while (0);
+
+#define CDL_FOREACH(head,el)                                                     \
+    for(el=head;el;el= (el->next==head ? 0L : el->next)) 
+
+
+#endif /* UTLIST_H */
+

flight/OpenPilot.posix/UAVObjects/manualcontrolcommand.c

@@ -0,0 +1,102 @@
+/**
+ ******************************************************************************
+ *
+ * @file       manualcontrolcommand.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the ManualControlCommand object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: manualcontrolcommand.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+#include "manualcontrolcommand.h"
+
+// Private variables
+static UAVObjHandle handle;
+
+// Private functions
+static void setDefaults(UAVObjHandle obj, uint16_t instId);
+
+/**
+ * Initialize object.
+ * \return 0 Success
+ * \return -1 Failure
+ */
+int32_t ManualControlCommandInitialize()
+{
+	// Register object with the object manager
+	handle = UAVObjRegister(MANUALCONTROLCOMMAND_OBJID, MANUALCONTROLCOMMAND_NAME, MANUALCONTROLCOMMAND_METANAME, 0,
+			MANUALCONTROLCOMMAND_ISSINGLEINST, MANUALCONTROLCOMMAND_ISSETTINGS, MANUALCONTROLCOMMAND_NUMBYTES, &setDefaults);
+
+	// Done
+	if (handle != 0)
+	{
+		return 0;
+	}
+	else
+	{
+		return -1;
+	}
+}
+
+/**
+ * Initialize object fields and metadata with the default values.
+ * If a default value is not specified the object fields
+ * will be initialized to zero.
+ */
+static void setDefaults(UAVObjHandle obj, uint16_t instId)
+{
+	ManualControlCommandData data;
+	UAVObjMetadata metadata;
+
+	// Initialize object fields to their default values
+	UAVObjGetInstanceData(obj, instId, &data);
+	memset(&data, 0, sizeof(ManualControlCommandData));
+
+	UAVObjSetInstanceData(obj, instId, &data);
+
+	// Initialize object metadata to their default values
+	metadata.access = ACCESS_READWRITE;
+	metadata.gcsAccess = ACCESS_READWRITE;
+	metadata.telemetryAcked = 0;
+	metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
+	metadata.telemetryUpdatePeriod = 2000;
+	metadata.gcsTelemetryAcked = 0;
+	metadata.gcsTelemetryUpdateMode = UPDATEMODE_MANUAL;
+	metadata.gcsTelemetryUpdatePeriod = 0;
+	metadata.loggingUpdateMode = UPDATEMODE_NEVER;
+	metadata.loggingUpdatePeriod = 0;
+	UAVObjSetMetadata(obj, &metadata);
+}
+
+/**
+ * Get object handle
+ */
+UAVObjHandle ManualControlCommandHandle()
+{
+	return handle;
+}
+
+
+

flight/OpenPilot.posix/UAVObjects/manualcontrolsettings.c

@@ -0,0 +1,132 @@
+/**
+ ******************************************************************************
+ *
+ * @file       manualcontrolsettings.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the ManualControlSettings object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: manualcontrolsettings.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+#include "manualcontrolsettings.h"
+
+// Private variables
+static UAVObjHandle handle;
+
+// Private functions
+static void setDefaults(UAVObjHandle obj, uint16_t instId);
+
+/**
+ * Initialize object.
+ * \return 0 Success
+ * \return -1 Failure
+ */
+int32_t ManualControlSettingsInitialize()
+{
+	// Register object with the object manager
+	handle = UAVObjRegister(MANUALCONTROLSETTINGS_OBJID, MANUALCONTROLSETTINGS_NAME, MANUALCONTROLSETTINGS_METANAME, 0,
+			MANUALCONTROLSETTINGS_ISSINGLEINST, MANUALCONTROLSETTINGS_ISSETTINGS, MANUALCONTROLSETTINGS_NUMBYTES, &setDefaults);
+
+	// Done
+	if (handle != 0)
+	{
+		return 0;
+	}
+	else
+	{
+		return -1;
+	}
+}
+
+/**
+ * Initialize object fields and metadata with the default values.
+ * If a default value is not specified the object fields
+ * will be initialized to zero.
+ */
+static void setDefaults(UAVObjHandle obj, uint16_t instId)
+{
+	ManualControlSettingsData data;
+	UAVObjMetadata metadata;
+
+	// Initialize object fields to their default values
+	UAVObjGetInstanceData(obj, instId, &data);
+	memset(&data, 0, sizeof(ManualControlSettingsData));
+    data.InputMode = 0;
+    data.Roll = 0;
+    data.Pitch = 1;
+    data.Yaw = 2;
+    data.Throttle = 3;
+    data.FlightMode = 4;
+    data.ChannelMax[0] = 2000;
+    data.ChannelMax[1] = 2000;
+    data.ChannelMax[2] = 2000;
+    data.ChannelMax[3] = 2000;
+    data.ChannelMax[4] = 2000;
+    data.ChannelMax[5] = 2000;
+    data.ChannelMax[6] = 2000;
+    data.ChannelMax[7] = 2000;
+    data.ChannelNeutral[0] = 1500;
+    data.ChannelNeutral[1] = 1500;
+    data.ChannelNeutral[2] = 1500;
+    data.ChannelNeutral[3] = 1500;
+    data.ChannelNeutral[4] = 1500;
+    data.ChannelNeutral[5] = 1500;
+    data.ChannelNeutral[6] = 1500;
+    data.ChannelNeutral[7] = 1500;
+    data.ChannelMin[0] = 1000;
+    data.ChannelMin[1] = 1000;
+    data.ChannelMin[2] = 1000;
+    data.ChannelMin[3] = 1000;
+    data.ChannelMin[4] = 1000;
+    data.ChannelMin[5] = 1000;
+    data.ChannelMin[6] = 1000;
+    data.ChannelMin[7] = 1000;
+
+	UAVObjSetInstanceData(obj, instId, &data);
+
+	// Initialize object metadata to their default values
+	metadata.access = ACCESS_READWRITE;
+	metadata.gcsAccess = ACCESS_READWRITE;
+	metadata.telemetryAcked = 1;
+	metadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
+	metadata.telemetryUpdatePeriod = 0;
+	metadata.gcsTelemetryAcked = 1;
+	metadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
+	metadata.gcsTelemetryUpdatePeriod = 0;
+	metadata.loggingUpdateMode = UPDATEMODE_NEVER;
+	metadata.loggingUpdatePeriod = 0;
+	UAVObjSetMetadata(obj, &metadata);
+}
+
+/**
+ * Get object handle
+ */
+UAVObjHandle ManualControlSettingsHandle()
+{
+	return handle;
+}
+
+
+

flight/OpenPilot.posix/UAVObjects/objectpersistence.c

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

flight/OpenPilot.posix/UAVObjects/positionactual.c

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

flight/OpenPilot.posix/UAVObjects/stabilizationsettings.c

@@ -0,0 +1,115 @@
+/**
+ ******************************************************************************
+ *
+ * @file       stabilizationsettings.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the StabilizationSettings object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: stabilizationsettings.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+#include "stabilizationsettings.h"
+
+// Private variables
+static UAVObjHandle handle;
+
+// Private functions
+static void setDefaults(UAVObjHandle obj, uint16_t instId);
+
+/**
+ * Initialize object.
+ * \return 0 Success
+ * \return -1 Failure
+ */
+int32_t StabilizationSettingsInitialize()
+{
+	// Register object with the object manager
+	handle = UAVObjRegister(STABILIZATIONSETTINGS_OBJID, STABILIZATIONSETTINGS_NAME, STABILIZATIONSETTINGS_METANAME, 0,
+			STABILIZATIONSETTINGS_ISSINGLEINST, STABILIZATIONSETTINGS_ISSETTINGS, STABILIZATIONSETTINGS_NUMBYTES, &setDefaults);
+
+	// Done
+	if (handle != 0)
+	{
+		return 0;
+	}
+	else
+	{
+		return -1;
+	}
+}
+
+/**
+ * Initialize object fields and metadata with the default values.
+ * If a default value is not specified the object fields
+ * will be initialized to zero.
+ */
+static void setDefaults(UAVObjHandle obj, uint16_t instId)
+{
+	StabilizationSettingsData data;
+	UAVObjMetadata metadata;
+
+	// Initialize object fields to their default values
+	UAVObjGetInstanceData(obj, instId, &data);
+	memset(&data, 0, sizeof(StabilizationSettingsData));
+    data.UpdatePeriod = 10;
+    data.RollMax = 35;
+    data.PitchMax = 35;
+    data.ThrottleMax = 1;
+    data.PitchKp = 0.04;
+    data.PitchKi = 4e-06;
+    data.PitchKd = 0.01;
+    data.RollKp = 0.02;
+    data.RollKi = 4e-06;
+    data.RollKd = 0.01;
+    data.YawKp = 1;
+    data.YawKi = 0;
+    data.YawKd = 0;
+
+	UAVObjSetInstanceData(obj, instId, &data);
+
+	// Initialize object metadata to their default values
+	metadata.access = ACCESS_READWRITE;
+	metadata.gcsAccess = ACCESS_READWRITE;
+	metadata.telemetryAcked = 1;
+	metadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
+	metadata.telemetryUpdatePeriod = 0;
+	metadata.gcsTelemetryAcked = 1;
+	metadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
+	metadata.gcsTelemetryUpdatePeriod = 0;
+	metadata.loggingUpdateMode = UPDATEMODE_NEVER;
+	metadata.loggingUpdatePeriod = 0;
+	UAVObjSetMetadata(obj, &metadata);
+}
+
+/**
+ * Get object handle
+ */
+UAVObjHandle StabilizationSettingsHandle()
+{
+	return handle;
+}
+
+
+

flight/OpenPilot.posix/UAVObjects/systemalarms.c

@@ -0,0 +1,102 @@
+/**
+ ******************************************************************************
+ *
+ * @file       systemalarms.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the SystemAlarms object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: systemalarms.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+#include "systemalarms.h"
+
+// Private variables
+static UAVObjHandle handle;
+
+// Private functions
+static void setDefaults(UAVObjHandle obj, uint16_t instId);
+
+/**
+ * Initialize object.
+ * \return 0 Success
+ * \return -1 Failure
+ */
+int32_t SystemAlarmsInitialize()
+{
+	// Register object with the object manager
+	handle = UAVObjRegister(SYSTEMALARMS_OBJID, SYSTEMALARMS_NAME, SYSTEMALARMS_METANAME, 0,
+			SYSTEMALARMS_ISSINGLEINST, SYSTEMALARMS_ISSETTINGS, SYSTEMALARMS_NUMBYTES, &setDefaults);
+
+	// Done
+	if (handle != 0)
+	{
+		return 0;
+	}
+	else
+	{
+		return -1;
+	}
+}
+
+/**
+ * Initialize object fields and metadata with the default values.
+ * If a default value is not specified the object fields
+ * will be initialized to zero.
+ */
+static void setDefaults(UAVObjHandle obj, uint16_t instId)
+{
+	SystemAlarmsData data;
+	UAVObjMetadata metadata;
+
+	// Initialize object fields to their default values
+	UAVObjGetInstanceData(obj, instId, &data);
+	memset(&data, 0, sizeof(SystemAlarmsData));
+
+	UAVObjSetInstanceData(obj, instId, &data);
+
+	// Initialize object metadata to their default values
+	metadata.access = ACCESS_READWRITE;
+	metadata.gcsAccess = ACCESS_READWRITE;
+	metadata.telemetryAcked = 1;
+	metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
+	metadata.telemetryUpdatePeriod = 4000;
+	metadata.gcsTelemetryAcked = 1;
+	metadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
+	metadata.gcsTelemetryUpdatePeriod = 0;
+	metadata.loggingUpdateMode = UPDATEMODE_PERIODIC;
+	metadata.loggingUpdatePeriod = 1000;
+	UAVObjSetMetadata(obj, &metadata);
+}
+
+/**
+ * Get object handle
+ */
+UAVObjHandle SystemAlarmsHandle()
+{
+	return handle;
+}
+
+
+

flight/OpenPilot.posix/UAVObjects/systemsettings.c

@@ -0,0 +1,103 @@
+/**
+ ******************************************************************************
+ *
+ * @file       systemsettings.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the SystemSettings object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: systemsettings.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+#include "systemsettings.h"
+
+// Private variables
+static UAVObjHandle handle;
+
+// Private functions
+static void setDefaults(UAVObjHandle obj, uint16_t instId);
+
+/**
+ * Initialize object.
+ * \return 0 Success
+ * \return -1 Failure
+ */
+int32_t SystemSettingsInitialize()
+{
+	// Register object with the object manager
+	handle = UAVObjRegister(SYSTEMSETTINGS_OBJID, SYSTEMSETTINGS_NAME, SYSTEMSETTINGS_METANAME, 0,
+			SYSTEMSETTINGS_ISSINGLEINST, SYSTEMSETTINGS_ISSETTINGS, SYSTEMSETTINGS_NUMBYTES, &setDefaults);
+
+	// Done
+	if (handle != 0)
+	{
+		return 0;
+	}
+	else
+	{
+		return -1;
+	}
+}
+
+/**
+ * Initialize object fields and metadata with the default values.
+ * If a default value is not specified the object fields
+ * will be initialized to zero.
+ */
+static void setDefaults(UAVObjHandle obj, uint16_t instId)
+{
+	SystemSettingsData data;
+	UAVObjMetadata metadata;
+
+	// Initialize object fields to their default values
+	UAVObjGetInstanceData(obj, instId, &data);
+	memset(&data, 0, sizeof(SystemSettingsData));
+    data.AirframeType = 0;
+
+	UAVObjSetInstanceData(obj, instId, &data);
+
+	// Initialize object metadata to their default values
+	metadata.access = ACCESS_READWRITE;
+	metadata.gcsAccess = ACCESS_READWRITE;
+	metadata.telemetryAcked = 1;
+	metadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
+	metadata.telemetryUpdatePeriod = 0;
+	metadata.gcsTelemetryAcked = 1;
+	metadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
+	metadata.gcsTelemetryUpdatePeriod = 0;
+	metadata.loggingUpdateMode = UPDATEMODE_NEVER;
+	metadata.loggingUpdatePeriod = 0;
+	UAVObjSetMetadata(obj, &metadata);
+}
+
+/**
+ * Get object handle
+ */
+UAVObjHandle SystemSettingsHandle()
+{
+	return handle;
+}
+
+
+

flight/OpenPilot.posix/UAVObjects/systemstats.c

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

flight/OpenPilot.posix/UAVObjects/telemetrysettings.c

@@ -0,0 +1,103 @@
+/**
+ ******************************************************************************
+ *
+ * @file       telemetrysettings.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the TelemetrySettings object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: telemetrysettings.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+#include "telemetrysettings.h"
+
+// Private variables
+static UAVObjHandle handle;
+
+// Private functions
+static void setDefaults(UAVObjHandle obj, uint16_t instId);
+
+/**
+ * Initialize object.
+ * \return 0 Success
+ * \return -1 Failure
+ */
+int32_t TelemetrySettingsInitialize()
+{
+	// Register object with the object manager
+	handle = UAVObjRegister(TELEMETRYSETTINGS_OBJID, TELEMETRYSETTINGS_NAME, TELEMETRYSETTINGS_METANAME, 0,
+			TELEMETRYSETTINGS_ISSINGLEINST, TELEMETRYSETTINGS_ISSETTINGS, TELEMETRYSETTINGS_NUMBYTES, &setDefaults);
+
+	// Done
+	if (handle != 0)
+	{
+		return 0;
+	}
+	else
+	{
+		return -1;
+	}
+}
+
+/**
+ * Initialize object fields and metadata with the default values.
+ * If a default value is not specified the object fields
+ * will be initialized to zero.
+ */
+static void setDefaults(UAVObjHandle obj, uint16_t instId)
+{
+	TelemetrySettingsData data;
+	UAVObjMetadata metadata;
+
+	// Initialize object fields to their default values
+	UAVObjGetInstanceData(obj, instId, &data);
+	memset(&data, 0, sizeof(TelemetrySettingsData));
+    data.Speed = 2;
+
+	UAVObjSetInstanceData(obj, instId, &data);
+
+	// Initialize object metadata to their default values
+	metadata.access = ACCESS_READWRITE;
+	metadata.gcsAccess = ACCESS_READWRITE;
+	metadata.telemetryAcked = 1;
+	metadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
+	metadata.telemetryUpdatePeriod = 0;
+	metadata.gcsTelemetryAcked = 1;
+	metadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
+	metadata.gcsTelemetryUpdatePeriod = 0;
+	metadata.loggingUpdateMode = UPDATEMODE_NEVER;
+	metadata.loggingUpdatePeriod = 0;
+	UAVObjSetMetadata(obj, &metadata);
+}
+
+/**
+ * Get object handle
+ */
+UAVObjHandle TelemetrySettingsHandle()
+{
+	return handle;
+}
+
+
+

flight/OpenPilot.posix/UAVObjects/uavobjectmanager.c

@@ -0,0 +1,1475 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjectmanager.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Object manager library. This library holds a collection of all objects.
+ *             It can be used by all modules/libraries to find an object reference.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+
+// Constants
+
+// Private types
+
+/**
+ * List of event queues and the eventmask associated with the queue.
+ */
+struct ObjectEventListStruct {
+	xQueueHandle queue;
+	UAVObjEventCallback cb;
+	int32_t eventMask;
+    struct ObjectEventListStruct* next;
+};
+typedef struct ObjectEventListStruct ObjectEventList;
+
+/**
+ * List of object instances, holds the actual data structure and instance ID
+ */
+struct ObjectInstListStruct {
+	void* data;
+	uint16_t instId;
+    struct ObjectInstListStruct* next;
+};
+typedef struct ObjectInstListStruct ObjectInstList;
+
+/**
+ * List of objects registered in the object manager
+ */
+struct ObjectListStruct {
+	uint32_t id; /** The object ID */
+	const char* name; /** The object name */
+	int8_t isMetaobject; /** Set to 1 if this is a metaobject */
+	int8_t isSingleInstance; /** Set to 1 if this object has a single instance */
+	int8_t isSettings; /** Set to 1 if this object is a settings object */
+	uint16_t numBytes; /** Number of data bytes contained in the object (for a single instance) */
+	uint16_t numInstances; /** Number of instances */
+	UAVObjInitializeCallback initCb; /** Object field and metadata initialization callback */
+	struct ObjectListStruct* linkedObj; /** Linked object, for regular objects this is the metaobject and for metaobjects it is the parent object */
+	ObjectInstList* instances; /** List of object instances, instance 0 always exists */
+	ObjectEventList* events; /** Event queues registered on the object */
+    struct ObjectListStruct* next; /** Needed by linked list library (utlist.h) */
+};
+typedef struct ObjectListStruct ObjectList;
+
+// Private functions
+static int32_t sendEvent(ObjectList* obj, uint16_t instId, UAVObjEventType event);
+static ObjectInstList* createInstance(ObjectList* obj, uint16_t instId);
+static ObjectInstList* getInstance(ObjectList* obj, uint16_t instId);
+static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb, int32_t eventMask);
+static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb);
+static void objectFilename(ObjectList* obj, uint8_t* filename);
+static void customSPrintf(uint8_t* buffer, uint8_t* format, ...);
+
+// Private variables
+static ObjectList* objList;
+static xSemaphoreHandle mutex;
+static UAVObjMetadata defMetadata;
+static UAVObjStats stats;
+
+/**
+ * Initialize the object manager
+ * \return 0 Success
+ * \return -1 Failure
+ */
+int32_t UAVObjInitialize()
+{
+	// Initialize variables
+	objList = NULL;
+	memset(&stats, 0, sizeof(UAVObjStats));
+
+	// Create mutex
+	mutex = xSemaphoreCreateRecursiveMutex();
+	if (mutex == NULL)
+		return -1;
+
+	// Initialize default metadata structure (metadata of metaobjects)
+	defMetadata.access = ACCESS_READWRITE;
+	defMetadata.gcsAccess = ACCESS_READWRITE;
+	defMetadata.telemetryAcked = 1;
+	defMetadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
+	defMetadata.telemetryUpdatePeriod = 0;
+	defMetadata.gcsTelemetryAcked = 1;
+	defMetadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
+	defMetadata.gcsTelemetryUpdatePeriod = 0;
+	defMetadata.loggingUpdateMode = UPDATEMODE_ONCHANGE;
+	defMetadata.loggingUpdatePeriod = 0;
+
+	// Done
+	return 0;
+}
+
+/**
+ * Get the statistics counters
+ * @param[out] statsOut The statistics counters will be copied there
+ */
+void UAVObjGetStats(UAVObjStats* statsOut)
+{
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	memcpy(statsOut, &stats, sizeof(UAVObjStats));
+	xSemaphoreGiveRecursive(mutex);
+}
+
+/**
+ * Clear the statistics counters
+ */
+void UAVObjClearStats()
+{
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	memset(&stats, 0, sizeof(UAVObjStats));
+	xSemaphoreGiveRecursive(mutex);
+}
+
+/**
+ * Register and new object in the object manager.
+ * \param[in] id Unique object ID
+ * \param[in] name Object name
+ * \param[in] nameName Metaobject name
+ * \param[in] isMetaobject Is this a metaobject (1:true, 0:false)
+ * \param[in] isSingleInstance Is this a single instance or multi-instance object
+ * \param[in] isSettings Is this a settings object
+ * \param[in] numBytes Number of bytes of object data (for one instance)
+ * \param[in] initCb Default field and metadata initialization function
+ * \return Object handle, or 0 if failure.
+ * \return
+ */
+UAVObjHandle UAVObjRegister(uint32_t id, const char* name, const char* metaName, int32_t isMetaobject,
+		int32_t isSingleInstance, int32_t isSettings, uint32_t numBytes, UAVObjInitializeCallback initCb)
+{
+	ObjectList* objEntry;
+	ObjectInstList* instEntry;
+	ObjectList* metaObj;
+
+	// Get lock
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	// Check that the object is not already registered
+	LL_FOREACH(objList, objEntry)
+	{
+		if (objEntry->id == id)
+		{
+			// Already registered, ignore
+			xSemaphoreGiveRecursive(mutex);
+			return -1;
+		}
+	}
+
+	// Create and append entry
+	objEntry = (ObjectList*)pvPortMalloc(sizeof(ObjectList));
+	if (objEntry == NULL)
+	{
+		xSemaphoreGiveRecursive(mutex);
+		return 0;
+	}
+	objEntry->id = id;
+	objEntry->name = name;
+	objEntry->isMetaobject = (int8_t)isMetaobject;
+	objEntry->isSingleInstance = (int8_t)isSingleInstance;
+	objEntry->isSettings = (int8_t)isSettings;
+	objEntry->numBytes = numBytes;
+	objEntry->events = NULL;
+	objEntry->numInstances = 0;
+	objEntry->initCb = initCb;
+	objEntry->instances = NULL;
+	objEntry->linkedObj = NULL; // will be set later
+	LL_APPEND(objList, objEntry);
+
+	// Create instance zero
+	instEntry = createInstance(objEntry, 0);
+	if ( instEntry == NULL )
+	{
+		xSemaphoreGiveRecursive(mutex);
+		return 0;
+	}
+
+	// Create metaobject and update linkedObj
+	if (isMetaobject)
+	{
+		objEntry->linkedObj = NULL; // will be set later
+	}
+	else
+	{
+		// Create metaobject
+		metaObj = (ObjectList*)UAVObjRegister(id+1, metaName, NULL, 1, 1, 0, sizeof(UAVObjMetadata), NULL);
+		// Link two objects
+		objEntry->linkedObj = metaObj;
+		metaObj->linkedObj = objEntry;
+	}
+
+	// Initialize object fields and metadata to default values
+	if ( objEntry->initCb != NULL )
+	{
+		objEntry->initCb((UAVObjHandle)objEntry, 0);
+	}
+
+	// Attempt to load object's metadata from the SD card (not done directly on the metaobject, but through the object)
+	if ( !objEntry->isMetaobject )
+	{
+		UAVObjLoad( (UAVObjHandle)objEntry->linkedObj, 0 );
+	}
+
+	// If this is a settings object, attempt to load from SD card
+	if ( objEntry->isSettings )
+	{
+		UAVObjLoad( (UAVObjHandle)objEntry, 0 );
+	}
+
+	// Release lock
+	xSemaphoreGiveRecursive(mutex);
+	return (UAVObjHandle)objEntry;
+}
+
+/**
+ * Retrieve an object from the list given its id
+ * \param[in] The object ID
+ * \return The object or 0 if not found.
+ */
+UAVObjHandle UAVObjGetByID(uint32_t id)
+{
+	ObjectList* objEntry;
+
+	// Get lock
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	// Look for object
+	LL_FOREACH(objList, objEntry)
+	{
+		if (objEntry->id == id)
+		{
+			// Release lock
+			xSemaphoreGiveRecursive(mutex);
+			// Done, object found
+			return (UAVObjHandle)objEntry;
+		}
+	}
+
+	// Object not found, release lock and return error
+	xSemaphoreGiveRecursive(mutex);
+	return 0;
+}
+
+/**
+ * Retrieve an object from the list given its name
+ * \param[in] name The name of the object
+ * \return The object or 0 if not found.
+ */
+UAVObjHandle UAVObjGetByName(char* name)
+{
+	ObjectList* objEntry;
+
+	// Get lock
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	// Look for object
+	LL_FOREACH(objList, objEntry)
+	{
+		if (objEntry->name != NULL && strcmp(objEntry->name, name) == 0)
+		{
+			// Release lock
+			xSemaphoreGiveRecursive(mutex);
+			// Done, object found
+			return (UAVObjHandle)objEntry;
+		}
+	}
+
+	// Object not found, release lock and return error
+	xSemaphoreGiveRecursive(mutex);
+	return 0;
+}
+
+/**
+ * Get the object's ID
+ * \param[in] obj The object handle
+ * \return The object ID
+ */
+uint32_t UAVObjGetID(UAVObjHandle obj)
+{
+	return ((ObjectList*)obj)->id;
+}
+
+/**
+ * Get the object's name
+ * \param[in] obj The object handle
+ * \return The object's name
+ */
+const char* UAVObjGetName(UAVObjHandle obj)
+{
+	return ((ObjectList*)obj)->name;
+}
+
+/**
+ * Get the number of bytes of the object's data (for one instance)
+ * \param[in] obj The object handle
+ * \return The number of bytes
+ */
+uint32_t UAVObjGetNumBytes(UAVObjHandle obj)
+{
+	return ((ObjectList*)obj)->numBytes;
+}
+
+/**
+ * Get the object this object is linked to. For regular objects, the linked object
+ * is the metaobject. For metaobjects the linked object is the parent object.
+ * This function is normally only needed by the telemetry module.
+ * \param[in] obj The object handle
+ * \return The object linked object handle
+ */
+UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj)
+{
+	return (UAVObjHandle)(((ObjectList*)obj)->linkedObj);
+}
+
+/**
+ * Get the number of instances contained in the object.
+ * \param[in] obj The object handle
+ * \return The number of instances
+ */
+uint16_t UAVObjGetNumInstances(UAVObjHandle obj)
+{
+	uint32_t numInstances;
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	numInstances = ((ObjectList*)obj)->numInstances;
+	xSemaphoreGiveRecursive(mutex);
+	return numInstances;
+}
+
+/**
+ * Create a new instance in the object.
+ * \param[in] obj The object handle
+ * \return The instance ID or 0 if an error
+ */
+uint16_t UAVObjCreateInstance(UAVObjHandle obj)
+{
+	ObjectList* objEntry;
+	ObjectInstList* instEntry;
+
+	// Lock
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	// Create new instance
+	objEntry = (ObjectList*)obj;
+	instEntry = createInstance(objEntry, objEntry->numInstances);
+	if ( instEntry == NULL )
+	{
+		xSemaphoreGiveRecursive(mutex);
+		return -1;
+	}
+
+	// Initialize instance data
+	if ( objEntry->initCb != NULL )
+	{
+		objEntry->initCb(obj, instEntry->instId);
+	}
+
+	// Unlock
+	xSemaphoreGiveRecursive(mutex);
+	return instEntry->instId;
+}
+
+/**
+ * Does this object contains a single instance or multiple instances?
+ * \param[in] obj The object handle
+ * \return True (1) if this is a single instance object
+ */
+int32_t UAVObjIsSingleInstance(UAVObjHandle obj)
+{
+	return ((ObjectList*)obj)->isSingleInstance;
+}
+
+/**
+ * Is this a metaobject?
+ * \param[in] obj The object handle
+ * \return True (1) if this is metaobject
+ */
+int32_t UAVObjIsMetaobject(UAVObjHandle obj)
+{
+	return ((ObjectList*)obj)->isMetaobject;
+}
+
+/**
+ * Is this a settings object?
+ * \param[in] obj The object handle
+ * \return True (1) if this is a settings object
+ */
+int32_t UAVObjIsSettings(UAVObjHandle obj)
+{
+	return ((ObjectList*)obj)->isSettings;
+}
+
+/**
+ * Unpack an object from a byte array
+ * \param[in] obj The object handle
+ * \param[in] instId The instance ID
+ * \param[in] dataIn The byte array
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjUnpack(UAVObjHandle obj, uint16_t instId, const uint8_t* dataIn)
+{
+	ObjectList* objEntry;
+	ObjectInstList* instEntry;
+
+	// Lock
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	// Cast handle to object
+	objEntry = (ObjectList*)obj;
+
+	// Get the instance
+	instEntry = getInstance(objEntry, instId);
+
+	// If the instance does not exist create it and any other instances before it
+	if ( instEntry == NULL )
+	{
+		instEntry = createInstance(objEntry, instId);
+		if ( instEntry == NULL )
+		{
+			// Error, unlock and return
+			xSemaphoreGiveRecursive(mutex);
+			return -1;
+		}
+	}
+
+	// Set the data
+	memcpy(instEntry->data, dataIn, objEntry->numBytes);
+
+	// Fire event
+	sendEvent(objEntry, instId, EV_UNPACKED);
+
+	// Unlock
+	xSemaphoreGiveRecursive(mutex);
+	return 0;
+}
+
+/**
+ * Pack an object to a byte array
+ * \param[in] obj The object handle
+ * \param[in] instId The instance ID
+ * \param[out] dataOut The byte array
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjPack(UAVObjHandle obj, uint16_t instId, uint8_t* dataOut)
+{
+	ObjectList* objEntry;
+	ObjectInstList* instEntry;
+
+	// Lock
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	// Cast handle to object
+	objEntry = (ObjectList*)obj;
+
+	// Get the instance
+	instEntry = getInstance(objEntry, instId);
+	if ( instEntry == NULL )
+	{
+		// Error, unlock and return
+		xSemaphoreGiveRecursive(mutex);
+		return -1;
+	}
+
+	// Pack data
+	memcpy(dataOut, instEntry->data, objEntry->numBytes);
+
+	// Unlock
+	xSemaphoreGiveRecursive(mutex);
+	return 0;
+}
+
+/**
+ * Save the data of the specified object instance to the file system (SD card).
+ * The object will be appended and the file will not be closed.
+ * The object data can be restored using the UAVObjLoad function.
+ * @param[in] obj The object handle.
+ * @param[in] instId The instance ID
+ * @param[in] file File to append to
+ * @return 0 if success or -1 if failure
+ */
+int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId, FILEINFO* file)
+{
+	uint32_t bytesWritten;
+	ObjectList* objEntry;
+	ObjectInstList* instEntry;
+
+	// Check for file system availability
+	if ( POIS_SDCARD_IsMounted() == 0 )
+	{
+		return -1;
+	}
+
+	// Lock
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	// Cast to object
+	objEntry = (ObjectList*)obj;
+
+	// Get the instance information
+	instEntry = getInstance(objEntry, instId);
+	if ( instEntry == NULL )
+	{
+		xSemaphoreGiveRecursive(mutex);
+		return -1;
+	}
+
+	// Write the object ID
+	PIOS_FWRITE(file,&objEntry->id,4,&bytesWritten);
+
+	// Write the instance ID
+	if (!objEntry->isSingleInstance)
+	{
+		PIOS_FWRITE(file,&instEntry->instId,2,&bytesWritten);
+	}
+
+	// Write the data and check that the write was successful
+	PIOS_FWRITE(file,instEntry->data,objEntry->numBytes,&bytesWritten);
+	if ( bytesWritten != objEntry->numBytes )
+	{
+		xSemaphoreGiveRecursive(mutex);
+		return -1;
+	}
+
+	// Done
+	xSemaphoreGiveRecursive(mutex);
+	return 0;
+}
+
+/**
+ * Save the data of the specified object to the file system (SD card).
+ * If the object contains multiple instances, all of them will be saved.
+ * A new file with the name of the object will be created.
+ * The object data can be restored using the UAVObjLoad function.
+ * @param[in] obj The object handle.
+ * @param[in] instId The instance ID
+ * @param[in] file File to append to
+ * @return 0 if success or -1 if failure
+ */
+int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
+{
+	FILEINFO file;
+	ObjectList* objEntry;
+	uint8_t filename[14];
+
+	// Check for file system availability
+	if ( POIS_SDCARD_IsMounted() == 0 )
+	{
+		return -1;
+	}
+
+	// Lock
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	// Cast to object
+	objEntry = (ObjectList*)obj;
+
+	// Get filename
+	objectFilename(objEntry, filename);
+
+	// Open file
+	if ( PIOS_FOPEN_WRITE(filename,file) )
+	{
+		xSemaphoreGiveRecursive(mutex);
+		return -1;
+	}
+
+	// Append object
+	if ( UAVObjSaveToFile(obj, instId, &file) == -1 )
+	{
+		PIOS_FCLOSE(file);
+		xSemaphoreGiveRecursive(mutex);
+		return -1;
+	}
+
+	// Done, close file and unlock
+	PIOS_FCLOSE(file);
+	xSemaphoreGiveRecursive(mutex);
+	return 0;
+}
+
+/**
+ * Load an object from the file system (SD card).
+ * @param[in] file File to read from
+ * @return The handle of the object loaded or 0 if a failure
+ */
+UAVObjHandle UAVObjLoadFromFile(FILEINFO* file)
+{
+	uint32_t bytesRead;
+	ObjectList* objEntry;
+	ObjectInstList* instEntry;
+	uint32_t objId;
+	uint16_t instId;
+	UAVObjHandle obj;
+
+	// Check for file system availability
+	if ( POIS_SDCARD_IsMounted() == 0 )
+	{
+		return -1;
+	}
+
+	// Lock
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	// Read the object ID
+	if ( PIOS_FREAD(file,&objId,4,&bytesRead) )
+	{
+		xSemaphoreGiveRecursive(mutex);
+		return 0;
+	}
+
+	// Get the object
+	obj = UAVObjGetByID(objId);
+	if ( obj == 0 )
+	{
+		xSemaphoreGiveRecursive(mutex);
+		return 0;
+	}
+	objEntry = (ObjectList*)obj;
+
+	// Get the instance ID
+	instId = 0;
+	if ( !objEntry->isSingleInstance )
+	{
+		if ( PIOS_FREAD(file,&instId,2,&bytesRead) )
+		{
+			xSemaphoreGiveRecursive(mutex);
+			return 0;
+		}
+	}
+
+	// Get the instance information
+	instEntry = getInstance(objEntry, instId);
+
+	// If the instance does not exist create it and any other instances before it
+	if ( instEntry == NULL )
+	{
+		instEntry = createInstance(objEntry, instId);
+		if ( instEntry == NULL )
+		{
+			// Error, unlock and return
+			xSemaphoreGiveRecursive(mutex);
+			return 0;
+		}
+	}
+
+	// Read the instance data
+	if ( PIOS_FREAD(file,instEntry->data,objEntry->numBytes,&bytesRead) )
+	{
+		xSemaphoreGiveRecursive(mutex);
+		return 0;
+	}
+
+	// Fire event
+	sendEvent(objEntry, instId, EV_UNPACKED);
+
+	// Unlock
+	xSemaphoreGiveRecursive(mutex);
+	return obj;
+}
+
+/**
+ * Load an object from the file system (SD card).
+ * A file with the name of the object will be opened.
+ * The object data can be saved using the UAVObjSave function.
+ * @param[in] obj The object handle.
+ * @param[in] instId The object instance
+ * @return 0 if success or -1 if failure
+ */
+int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
+{
+	FILEINFO file;
+	ObjectList* objEntry;
+	UAVObjHandle loadedObj;
+	ObjectList* loadedObjEntry;
+	uint8_t filename[14];
+
+	// Check for file system availability
+	if ( POIS_SDCARD_IsMounted() == 0 )
+	{
+		return -1;
+	}
+
+	// Lock
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	// Cast to object
+	objEntry = (ObjectList*)obj;
+
+	// Get filename
+	objectFilename(objEntry, filename);
+
+	// Open file
+	if ( PIOS_FOPEN_READ(filename,file) )
+	{
+		xSemaphoreGiveRecursive(mutex);
+		return -1;
+	}
+
+	// Load object
+	loadedObj = UAVObjLoadFromFile(&file);
+	if (loadedObj == 0)
+	{
+		PIOS_FCLOSE(file);
+		xSemaphoreGiveRecursive(mutex);
+		return -1;
+	}
+
+	// Check that the IDs match
+	loadedObjEntry = (ObjectList*)loadedObj;
+	if ( loadedObjEntry->id != objEntry->id )
+	{
+		PIOS_FCLOSE(file);
+		xSemaphoreGiveRecursive(mutex);
+		return -1;
+	}
+
+	// Done, close file and unlock
+	PIOS_FCLOSE(file);
+	xSemaphoreGiveRecursive(mutex);
+	return 0;
+}
+
+/**
+ * Delete an object from the file system (SD card).
+ * @param[in] obj The object handle.
+ * @param[in] instId The object instance
+ * @return 0 if success or -1 if failure
+ */
+int32_t UAVObjDelete(UAVObjHandle obj, uint16_t instId)
+{
+	ObjectList* objEntry;
+	uint8_t filename[14];
+
+	// Check for file system availability
+	if ( POIS_SDCARD_IsMounted() == 0 )
+	{
+		return -1;
+	}
+
+	// Lock
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	// Cast to object
+	objEntry = (ObjectList*)obj;
+
+	// Get filename
+	objectFilename(objEntry, filename);
+
+	// Delete file
+	PIOS_FUNLINK(filename);
+
+	// Done
+	xSemaphoreGiveRecursive(mutex);
+	return 0;
+}
+
+/**
+ * Save all settings objects to the SD card.
+ * @return 0 if success or -1 if failure
+ */
+int32_t UAVObjSaveSettings()
+{
+	ObjectList* objEntry;
+
+	// Get lock
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	// Save all settings objects
+	LL_FOREACH(objList, objEntry)
+	{
+		// Check if this is a settings object
+		if ( objEntry->isSettings )
+		{
+			// Save object
+			if ( UAVObjSave( (UAVObjHandle)objEntry, 0 ) == -1 )
+			{
+				xSemaphoreGiveRecursive(mutex);
+				return -1;
+			}
+		}
+	}
+
+	// Done
+	xSemaphoreGiveRecursive(mutex);
+	return 0;
+}
+
+/**
+ * Load all settings objects from the SD card.
+ * @return 0 if success or -1 if failure
+ */
+int32_t UAVObjLoadSettings()
+{
+	ObjectList* objEntry;
+
+	// Get lock
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	// Load all settings objects
+	LL_FOREACH(objList, objEntry)
+	{
+		// Check if this is a settings object
+		if ( objEntry->isSettings )
+		{
+			// Load object
+			if ( UAVObjLoad( (UAVObjHandle)objEntry, 0 ) == -1 )
+			{
+				xSemaphoreGiveRecursive(mutex);
+				return -1;
+			}
+		}
+	}
+
+	// Done
+	xSemaphoreGiveRecursive(mutex);
+	return 0;
+}
+
+/**
+ * Delete all settings objects from the SD card.
+ * @return 0 if success or -1 if failure
+ */
+int32_t UAVObjDeleteSettings()
+{
+	ObjectList* objEntry;
+
+	// Get lock
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	// Save all settings objects
+	LL_FOREACH(objList, objEntry)
+	{
+		// Check if this is a settings object
+		if ( objEntry->isSettings )
+		{
+			// Save object
+			if ( UAVObjDelete( (UAVObjHandle)objEntry, 0 ) == -1 )
+			{
+				xSemaphoreGiveRecursive(mutex);
+				return -1;
+			}
+		}
+	}
+
+	// Done
+	xSemaphoreGiveRecursive(mutex);
+	return 0;
+}
+
+/**
+ * Save all metaobjects to the SD card.
+ * @return 0 if success or -1 if failure
+ */
+int32_t UAVObjSaveMetaobjects()
+{
+	ObjectList* objEntry;
+
+	// Get lock
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	// Save all settings objects
+	LL_FOREACH(objList, objEntry)
+	{
+		// Check if this is a settings object
+		if ( objEntry->isMetaobject )
+		{
+			// Save object
+			if ( UAVObjSave( (UAVObjHandle)objEntry, 0 ) == -1 )
+			{
+				xSemaphoreGiveRecursive(mutex);
+				return -1;
+			}
+		}
+	}
+
+	// Done
+	xSemaphoreGiveRecursive(mutex);
+	return 0;
+}
+
+/**
+ * Load all metaobjects from the SD card.
+ * @return 0 if success or -1 if failure
+ */
+int32_t UAVObjLoadMetaobjects()
+{
+	ObjectList* objEntry;
+
+	// Get lock
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	// Load all settings objects
+	LL_FOREACH(objList, objEntry)
+	{
+		// Check if this is a settings object
+		if ( objEntry->isMetaobject )
+		{
+			// Load object
+			if ( UAVObjLoad( (UAVObjHandle)objEntry, 0 ) == -1 )
+			{
+				xSemaphoreGiveRecursive(mutex);
+				return -1;
+			}
+		}
+	}
+
+	// Done
+	xSemaphoreGiveRecursive(mutex);
+	return 0;
+}
+
+/**
+ * Delete all metaobjects from the SD card.
+ * @return 0 if success or -1 if failure
+ */
+int32_t UAVObjDeleteMetaobjects()
+{
+	ObjectList* objEntry;
+
+	// Get lock
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	// Load all settings objects
+	LL_FOREACH(objList, objEntry)
+	{
+		// Check if this is a settings object
+		if ( objEntry->isMetaobject )
+		{
+			// Load object
+			if ( UAVObjDelete( (UAVObjHandle)objEntry, 0 ) == -1 )
+			{
+				xSemaphoreGiveRecursive(mutex);
+				return -1;
+			}
+		}
+	}
+
+	// Done
+	xSemaphoreGiveRecursive(mutex);
+	return 0;
+}
+
+/**
+ * Set the object data
+ * \param[in] obj The object handle
+ * \param[in] dataIn The object's data structure
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjSetData(UAVObjHandle obj, const void* dataIn)
+{
+	return UAVObjSetInstanceData(obj, 0, dataIn);
+}
+
+/**
+ * Get the object data
+ * \param[in] obj The object handle
+ * \param[out] dataOut The object's data structure
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjGetData(UAVObjHandle obj, void* dataOut)
+{
+	return UAVObjGetInstanceData(obj, 0, dataOut);
+}
+
+/**
+ * Set the data of a specific object instance
+ * \param[in] obj The object handle
+ * \param[in] instId The object instance ID
+ * \param[in] dataIn The object's data structure
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId, const void* dataIn)
+{
+	ObjectList* objEntry;
+	ObjectInstList* instEntry;
+	UAVObjMetadata* mdata;
+
+	// Lock
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	// Cast to object info
+	objEntry = (ObjectList*)obj;
+
+	// Check access level
+	if ( !objEntry->isMetaobject )
+	{
+		mdata = (UAVObjMetadata*)(objEntry->linkedObj->instances->data);
+		if ( mdata->access == ACCESS_READONLY )
+		{
+			xSemaphoreGiveRecursive(mutex);
+			return -1;
+		}
+	}
+
+	// Get instance information
+	instEntry = getInstance(objEntry, instId);
+	if ( instEntry == NULL )
+	{
+		// Error, unlock and return
+		xSemaphoreGiveRecursive(mutex);
+		return -1;
+	}
+
+	// Set data
+	memcpy(instEntry->data, dataIn, objEntry->numBytes);
+
+	// Fire event
+	sendEvent(objEntry, instId, EV_UPDATED);
+
+	// Unlock
+	xSemaphoreGiveRecursive(mutex);
+	return 0;
+}
+
+/**
+ * Get the data of a specific object instance
+ * \param[in] obj The object handle
+ * \param[in] instId The object instance ID
+ * \param[out] dataOut The object's data structure
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId, void* dataOut)
+{
+	ObjectList* objEntry;
+	ObjectInstList* instEntry;
+
+	// Lock
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	// Cast to object info
+	objEntry = (ObjectList*)obj;
+
+	// Get instance information
+	instEntry = getInstance(objEntry, instId);
+	if ( instEntry == NULL )
+	{
+		// Error, unlock and return
+		xSemaphoreGiveRecursive(mutex);
+		return -1;
+	}
+
+	// Set data
+	memcpy(dataOut, instEntry->data, objEntry->numBytes);
+
+	// Unlock
+	xSemaphoreGiveRecursive(mutex);
+	return 0;
+}
+
+/**
+ * Set the object metadata
+ * \param[in] obj The object handle
+ * \param[in] dataIn The object's metadata structure
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata* dataIn)
+{
+	ObjectList* objEntry;
+
+	// Lock
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	// Set metadata (metadata of metaobjects can not be modified)
+	objEntry = (ObjectList*)obj;
+	if (!objEntry->isMetaobject)
+	{
+		UAVObjSetData((UAVObjHandle)objEntry->linkedObj, dataIn);
+	}
+	else
+	{
+		return -1;
+	}
+
+	// Unlock
+	xSemaphoreGiveRecursive(mutex);
+	return 0;
+}
+
+/**
+ * Get the object metadata
+ * \param[in] obj The object handle
+ * \param[out] dataOut The object's metadata structure
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata* dataOut)
+{
+	ObjectList* objEntry;
+
+	// Lock
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	// Get metadata
+	objEntry = (ObjectList*)obj;
+	if (objEntry->isMetaobject)
+	{
+		memcpy(dataOut, &defMetadata, sizeof(UAVObjMetadata));
+	}
+	else
+	{
+		UAVObjGetData((UAVObjHandle)objEntry->linkedObj, dataOut);
+	}
+
+	// Unlock
+	xSemaphoreGiveRecursive(mutex);
+	return 0;
+}
+
+/**
+ * Connect an event queue to the object, if the queue is already connected then the event mask is only updated.
+ * All events matching the event mask will be pushed to the event queue.
+ * \param[in] obj The object handle
+ * \param[in] queue The event queue
+ * \param[in] eventMask The event mask, if EV_MASK_ALL then all events are enabled (e.g. EV_UPDATED | EV_UPDATED_MANUAL)
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjConnectQueue(UAVObjHandle obj, xQueueHandle queue, int32_t eventMask)
+{
+	int32_t res;
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	res = connectObj(obj, queue, 0, eventMask);
+	xSemaphoreGiveRecursive(mutex);
+	return res;
+}
+
+/**
+ * Disconnect an event queue from the object.
+ * \param[in] obj The object handle
+ * \param[in] queue The event queue
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjDisconnectQueue(UAVObjHandle obj, xQueueHandle queue)
+{
+	int32_t res;
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	res = disconnectObj(obj, queue, 0);
+	xSemaphoreGiveRecursive(mutex);
+	return res;
+}
+
+/**
+ * Connect an event callback to the object, if the callback is already connected then the event mask is only updated.
+ * The supplied callback will be invoked on all events matching the event mask.
+ * \param[in] obj The object handle
+ * \param[in] cb The event callback
+ * \param[in] eventMask The event mask, if EV_MASK_ALL then all events are enabled (e.g. EV_UPDATED | EV_UPDATED_MANUAL)
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjConnectCallback(UAVObjHandle obj, UAVObjEventCallback cb, int32_t eventMask)
+{
+	int32_t res;
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	res = connectObj(obj, 0, cb, eventMask);
+	xSemaphoreGiveRecursive(mutex);
+	return res;
+}
+
+/**
+ * Disconnect an event callback from the object.
+ * \param[in] obj The object handle
+ * \param[in] cb The event callback
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjDisconnectCallback(UAVObjHandle obj, UAVObjEventCallback cb)
+{
+	int32_t res;
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	res = disconnectObj(obj, 0, cb);
+	xSemaphoreGiveRecursive(mutex);
+	return res;
+}
+
+
+/**
+ * Request an update of the object's data from the GCS. The call will not wait for the response, a EV_UPDATED event
+ * will be generated as soon as the object is updated.
+ * \param[in] obj The object handle
+ */
+void UAVObjRequestUpdate(UAVObjHandle obj)
+{
+	UAVObjRequestInstanceUpdate(obj, UAVOBJ_ALL_INSTANCES);
+}
+
+/**
+ * Request an update of the object's data from the GCS. The call will not wait for the response, a EV_UPDATED event
+ * will be generated as soon as the object is updated.
+ * \param[in] obj The object handle
+ * \param[in] instId Object instance ID to update
+ */
+void UAVObjRequestInstanceUpdate(UAVObjHandle obj, uint16_t instId)
+{
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	sendEvent((ObjectList*)obj, instId, EV_UPDATE_REQ);
+	xSemaphoreGiveRecursive(mutex);
+}
+
+/**
+ * Send the object's data to the GCS (triggers a EV_UPDATED_MANUAL event on this object).
+ * \param[in] obj The object handle
+ */
+void UAVObjUpdated(UAVObjHandle obj)
+{
+	UAVObjInstanceUpdated(obj, UAVOBJ_ALL_INSTANCES);
+}
+
+/**
+ * Send the object's data to the GCS (triggers a EV_UPDATED_MANUAL event on this object).
+ * \param[in] obj The object handle
+ * \param[in] instId The object instance ID
+ */
+void UAVObjInstanceUpdated(UAVObjHandle obj, uint16_t instId)
+{
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	sendEvent((ObjectList*)obj, instId, EV_UPDATED_MANUAL);
+	xSemaphoreGiveRecursive(mutex);
+}
+
+/**
+ * Iterate through all objects in the list.
+ * \param iterator This function will be called once for each object,
+ * the object will be passed as a parameter
+ */
+void UAVObjIterate(void (*iterator)(UAVObjHandle obj))
+{
+	ObjectList* objEntry;
+
+	// Get lock
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	// Iterate through the list and invoke iterator for each object
+	LL_FOREACH(objList, objEntry)
+	{
+		(*iterator)((UAVObjHandle)objEntry);
+	}
+
+	// Release lock
+	xSemaphoreGiveRecursive(mutex);
+}
+
+/**
+ * Send an event to all event queues registered on the object.
+ */
+static int32_t sendEvent(ObjectList* obj, uint16_t instId, UAVObjEventType event)
+{
+	ObjectEventList* eventEntry;
+	UAVObjEvent msg;
+
+	// Setup event
+	msg.obj = (UAVObjHandle)obj;
+	msg.event = event;
+	msg.instId = instId;
+
+	// Go through each object and push the event message in the queue (if event is activated for the queue)
+    LL_FOREACH(obj->events, eventEntry)
+	{
+    	if ( eventEntry->eventMask == 0 || (eventEntry->eventMask & event) != 0 )
+    	{
+    		// Send to queue if a valid queue is registered
+    		if (eventEntry->queue != 0)
+    		{
+    			if ( xQueueSend(eventEntry->queue, &msg, 0) != pdTRUE ) // will not block
+    			{
+    				++stats.eventErrors;
+    			}
+    		}
+    		// Invoke callback (from event task) if a valid one is registered
+    		if (eventEntry->cb != 0)
+    		{
+    			if ( EventCallbackDispatch(&msg, eventEntry->cb) != pdTRUE ) // invoke callback from the event task, will not block
+    			{
+    				++stats.eventErrors;
+    			}
+    		}
+    	}
+    }
+
+    // Done
+    return 0;
+}
+
+/**
+ * Create a new object instance, return the instance info or NULL if failure.
+ */
+static ObjectInstList* createInstance(ObjectList* obj, uint16_t instId)
+{
+	ObjectInstList* instEntry;
+	int32_t n;
+
+	// For single instance objects, only instance zero is allowed
+	if (obj->isSingleInstance && instId != 0)
+	{
+		return NULL;
+	}
+
+	// Make sure that the instance ID is within limits
+	if (instId >= UAVOBJ_MAX_INSTANCES)
+	{
+		return NULL;
+	}
+
+	// Check if the instance already exists
+	if ( getInstance(obj, instId) != NULL )
+	{
+		return NULL;
+	}
+
+	// Create any missing instances (all instance IDs must be sequential)
+	for (n = obj->numInstances; n < instId; ++n)
+	{
+		if ( createInstance(obj, n) == NULL )
+		{
+			return NULL;
+		}
+	}
+
+	// Create the actual instance
+	instEntry = (ObjectInstList*)pvPortMalloc(sizeof(ObjectInstList));
+	if (instEntry == NULL) return NULL;
+	instEntry->data = pvPortMalloc(obj->numBytes);
+	if (instEntry->data == NULL) return NULL;
+	memset(instEntry->data, 0, obj->numBytes);
+	instEntry->instId = instId;
+	LL_APPEND(obj->instances, instEntry);
+	++obj->numInstances;
+
+	// Fire event
+	UAVObjInstanceUpdated((UAVObjHandle)obj, instId);
+
+	// Done
+	return instEntry;
+}
+
+/**
+ * Get the instance information or NULL if the instance does not exist
+ */
+static ObjectInstList* getInstance(ObjectList* obj, uint16_t instId)
+{
+	ObjectInstList* instEntry;
+
+	// Look for specified instance ID
+	LL_FOREACH(obj->instances, instEntry)
+	{
+		if (instEntry->instId == instId)
+		{
+			return instEntry;
+		}
+	}
+	// If this point is reached then instance id was not found
+	return NULL;
+}
+
+/**
+ * Connect an event queue to the object, if the queue is already connected then the event mask is only updated.
+ * \param[in] obj The object handle
+ * \param[in] queue The event queue
+ * \param[in] cb The event callback
+ * \param[in] eventMask The event mask, if EV_MASK_ALL then all events are enabled (e.g. EV_UPDATED | EV_UPDATED_MANUAL)
+ * \return 0 if success or -1 if failure
+ */
+static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb, int32_t eventMask)
+{
+	ObjectEventList* eventEntry;
+	ObjectList* objEntry;
+
+	// Check that the queue is not already connected, if it is simply update event mask
+	objEntry = (ObjectList*)obj;
+	LL_FOREACH(objEntry->events, eventEntry)
+	{
+		if ( eventEntry->queue == queue && eventEntry->cb == cb )
+		{
+			// Already connected, update event mask and return
+			eventEntry->eventMask = eventMask;
+			return 0;
+		}
+	}
+
+	// Add queue to list
+	eventEntry = (ObjectEventList*)pvPortMalloc(sizeof(ObjectEventList));
+	if (eventEntry == NULL)
+	{
+		return -1;
+	}
+	eventEntry->queue = queue;
+	eventEntry->cb = cb;
+	eventEntry->eventMask = eventMask;
+	LL_APPEND(objEntry->events, eventEntry);
+
+	// Done
+	return 0;
+}
+
+/**
+ * Disconnect an event queue from the object
+ * \param[in] obj The object handle
+ * \param[in] queue The event queue
+ * \param[in] cb The event callback
+ * \return 0 if success or -1 if failure
+ */
+static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb)
+{
+	ObjectEventList* eventEntry;
+	ObjectList* objEntry;
+
+	// Find queue and remove it
+	objEntry = (ObjectList*)obj;
+	LL_FOREACH(objEntry->events, eventEntry)
+	{
+		if ( ( eventEntry->queue == queue && eventEntry->cb == cb ) )
+		{
+			LL_DELETE(objEntry->events, eventEntry);
+			vPortFree(eventEntry);
+			return 0;
+		}
+	}
+
+	// If this point is reached the queue was not found
+	return -1;
+}
+
+/**
+ * Wrapper for the sprintf function
+ */
+static void customSPrintf(uint8_t* buffer, uint8_t* format, ...)
+{
+	va_list args;
+	va_start(args, format);
+	vsprintf((char *)buffer, (char *)format, args);
+}
+
+/**
+ * Get an 8 character (plus extension) filename for the object.
+ */
+static void objectFilename(ObjectList* obj, uint8_t* filename)
+{
+	customSPrintf(filename, (uint8_t*)"%X.obj", obj->id);
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+