Merge remote-tracking branch 'origin/next' into brian/oplink_ppm_out

CREDITS.txt

@@ -6,47 +6,41 @@ It is sorted alphabetically by name and formatted so that it allows for easy gre
 The fields are:
 
 Name (N)
-Email (E),
 Description of work (D)
 Current maintainer function (M)
 
 ----------
 
 N: Connor Abbott
-E: connor (at) abbott (dot) cx
 D: Win32 OpenPilot port
 
 N: David Ankers
-E: david (at) openpilot (dot) org
 D: Co-founder, Project Coordination
 D: Minor GCS infrastructure, updating the credit file
 M: Admin
 
+N: Sergiy Anikeyev
+D: Improvments to Camera Gimbal control
+
 N: Pedro Assuncao
-E: pedro (dot) agda (plus) openpilot (at) gmail (dot) com
 D: Initial GCS Settings Gadget work
 
 N: Fredrik Arvidsson
-E: fredrik (at) arvidssons (dot) org
-W: GCS Setup Wizard
+D: GCS Setup Wizard
 M: GCS Setup Wizard
 
 N: Werner Backes
-E: werner (at) bit-1 (dot) de
 D: Port of CopterControl to PS3 Move Controller (MoveCopter)
 
 N: Jose Barros
-E: josembarros (at) hotmail (dot) com
 D: Next-Gen OP Map Lib, Y-Modem Library, Uploader Plugin
 D: OP Bootloader, AHRS Bootloader, OPUploadTool and much else
 M: Bootloader, OP MAP Lib 
 
 N: David "Buzz" Carlson
-E: chebuzz (plus) openpilot (at) gmail (dot) com
 D: 3D ModelView GCS Plugin, sponsor of HITL merge work and XPlane addition
 
 N: James Cotton
-E: peabody124 (plus) openpilot (at) gmail (dot) com
 D: Multiplatform HID implementation (firmware & GCS), GCS Joystick control
 D: Posix OpenPilot work and Mac implementation
 D: Firmware implementation of Professor Schinstock's INS/GPS
@@ -54,187 +48,159 @@ D: Android GCS and much else
 M: Architecture co-lead, Android GCS Lead
 
 N: Steve Doll
-E: speakfree07 (at) hotmail (dot) com 
 D: Much Artwork, Logo rework, Welcome page design
 
 N: Piotr Esden-Tempski
-E: esden (at) esden (dot) net
 D: Floss-JTAG Rev A, 4-layer initial design
 
+N: Richard Flay
+D: Multiple fixes / Review guru
+
 N: Darren Furniss
-E: furnibird (plus) openpilot (at) gmail (dot) com
-W: GCS Artwork and Android GCS Artwork
+D: GCS Artwork and Android GCS Artwork
 
 N: Frederic Goddeeris
-E: fredericgoddeeris (at) hotmail (dot) com
 D: I2C work and FreeRTOS work, MK integration
 D: EagleTree OSD implementation
 
 N: Daniel Godin
-E: dgodin (at) dnsct (dot) com
-W: Sponsor: Notify Plugin for the GCS
+D: Sponsor: Notify Plugin for the GCS
 
 N: Bani Greyling
-E: bani (dot) greyling (plus) openpilot (at) gmail (dot) com
 D: GCS Scope plugin
 
 N: Nuno Guedes
-E: muralha (plus) openpilot (at) gmail (dot) com
 D: 3D artwork, moving surfaces and work on ModelView
 D: PFD Artwork
 
+N: Erik Gustavsson
+D: Attitude LPF improvments to Self Level
+
 N: Peter Gunnarsson
-E: peter (at) pyne (dot) se
 D: GCS Core Developer
 D: Multiple GCS plugins, Gadget foundations, UAVObject viewer
 
 N: Dean Hall
-E: dwhall256 (plus) openpilot (at) gmail (dot) com
 D: Creator of http://pythononachip.org
 
 N: Joe Hlebasko
-E: joe (dot) hlebasko(plus) openpilot (at) gmail (dot) com
 D: Early versions of Main Board & Production OP GPS
 M: Hardware Architecture Team
 
 N: Andy Honecker
-E: andywh (at) yahoo (dot) com
 D: Hardware design review and optimisation
 
 N: Mark James
-E: mjames (plus) openpilot (at) gmail (dot) com
 D: Some of Silk Icon set used in GCS - http://www.famfamfam.com/lab/icons/silk
 
 N: Sami Korhonen
-E: samik (dot) korhonen (plus) openpilot (at) gmail (dot) com
 D: GPS Module, Spektrum RC Module, OSD work
 M: OpenPilot OSD
 
 N: Thorsten Klose
-E: thorsten (dot) klose (at) dmx (dot) de
 D: Embedded STM32 infrastructure
 
 N: Hallvard Kristiansen
-E: hal (at) fleshmx (dot) com
 D: GCS Artwork, Quad layout diagrams
 
 N: Mike Labranche
-E: mdlabranche (plus) openpilot (at) gmail (dot) com
 D: Tab bar Telem Monitor
 
 N: Edouard Lafargue
-E: edouard (at) lafargue (dot) name
 D: GCS Dial Plugins, GCS PFD Plugin, GCS GPS plugin, GCS Config plugin
 D: Artwork including standard display dials
 
 N: Matt Lipski
-E: mattlipski (plus) openpilot (at) gmail (dot) com
 D: Deluxe Dials Set artwork, (Artificial Horizon, Compass, Turn Indicator)
 
 N: Les Newell
-E: les (dot) newell (at) fastmail (dot) co (dot) uk
 D: Advanced mixer matrix, SPI protocol based on UAVObjects, feedforward
 
 N: Ken Northup
-E: helos360 (at) bellsouth (dot) net
 D: 3D Modelling, Easystar adaption from FMS
 
 N: Guy McCaldin
-E: guymcc (at) gmail (dot) com
 D: Artwork and design including work on the Deluxe Dial Set
 
+N: Alessio Morale
+D: Firmware/Architecture Lead
+
 N: Cathy Moss
-E: cmoss296 (at) blueyonder (dot) co (dot) uk
 D: Hardware design Lead: Gen 2 Mainboard, PipXtreme, Current Sensor
 D: PipXtreme designer, creator OP Map Plugin
 
 N: Angus Peart
-E: gussy (at) openpilot (dot) org
 D: Co-founder, Principal hardware architect.
 D: Hardware design of early OpenPilot, AHRS, GPS and other hardware
 
 N: Dmytro Poplavskiy
-E: dmytro (dot) poplavskiy (plus) openpilot (at) gmail (dot) com
-W: QML PFD, QML Welcome page
+D: QML PFD, QML Welcome page
 M: Qml plugins
 
 N: Eric Price
-E: corvus (dot) corax (at) cybertrench (dot) com
 D: IL2 HITL GCS Plugin, Posix OpenPilot, Advanced stabilisation module
 M: SITL Posix, SLAM work
 
 N: Richard Querin
-E: rfquerin (plus) openpilot (at) gmail (dot) com
 D: Graphic Design, OpenPilot Logo
 
 N: Laurent Ribon
-E: ribon (dot) l (at) club-internet (dot) fr
 D: The GLC_lib as used in the ModelView Plugin
 D: See: http://www.glc-lib.net/
 
 N: Julien Rouviere
-E: julien (dot) rouviere (plus) openpilot (at) gmail (dot) com
 D: GCS Framework and Plugins for the GCS
 
 N: Zik Saleeba
-E: zik (at) zikzak (dot) net
 D: Initial schematic based on Zik's Flying Fox schematic
 
 N: Professor Dale Schinstock
-E: dales (at) ksu (dot) edu
-D: Lead AHRS Developer
+D: Lead INS Developer
 D: Creator of the OpenPilot INS / EKF
 
 N: Professor Kenn Sebesta
-E: kenn (at) openpilot (dot) org
-D: Lead Fixed Wing Developer
-M: Fixed Wing support
+D: Lead Fixed Wing Developer CC3D / Controls
+D: GCS improvments including HiTL Merge
+M: Fixed Wing support CC3D
 
 N: Oleg Semyonov
-E: os-openpilot-org (at) os-propo (dot) info
-D: Core tester & Project organisation
+D: Core Developer & Project organisation
+D: TxPID module
+M: CameraStab module
 M: Common part of multi-platform packaging system
 M: Windows NSIS Installer
-M: Russian Documentation Lead
 
 N: Stacey Sheldon
-E: stac (at) solidgoldbomb (dot) org
 D: Core Embedded Developer
 D: SPI protocol for AHRS, I2C rewrite and much core work
 
 N: Troy Schultz
-E: troy (dot) schultz (at) rogers (dot) com
 D: INS design review and optimisation
 
 N: Dr. Erhard Siegl
-E: Erhard (dot) Siegl (at) zogazoga (dot) at
 D: Configuration engine for the GCS
 
 N: Pete Stapley
-E: pete (at) stapleylabs (dot) com
 D: PPM inputs
 
 N: Rowan Taubitz
-E: rowan (at) zantek (dot) com (dot) au
 D: Hardware debugging and testing, creation of 2-layer Floss-JTAG Rev B
 D: Creation of Next-Gen FOSS-JTAG board
 
 N: Andrew Thoms
-E: electronics (at) andrewspizza (dot) net
 D: IP Telemtry plugin for the GCS
 D: Helicopter support code and mixing for CCPM
 
 N: Vassilis Varveropoulos
-E: vassilis (at) openpilot (dot) org
 D: Co-founder, Principal embedded software architect.
 D: Module architecture and UAVTalk/UAVObjects implementation.
 
 N: Alex Vrubel
-E: alex (dot) vrubel (plus) openpilot (at) gmail (dot) com
 D: Russian translation of the GCS
 
 N: Brian Webb
-E: webbbn (plus) openpilot (at) gmail (dot) com
-W: Modem lead developer
+D: Modem lead developer
 M: OP Modems
 
+N: Dmitriy Zaitsev
+D: AeroSim-RC HiTL plugin

HISTORY.txt

@@ -1,5 +1,34 @@
 Short summary of changes.  For a complete list see the git log.
 
+2012-11-17
+Advanced camera stabilization features.
+They include optional manual control input filtering (moved from camera
+stabilization to manual control input and now available also for main controls),
+optional airframe attitude filtering used by camera stabilization, and optional
+camera actuator feed forward to improve gimbal response.
+
+--- RELEASE-12.10.2 --- Mayan Apocalypse Release ---
+
+List of issues resolved in this maintenance release:
+http://progress.openpilot.org/issues/?filter=10361
+
+OP-459, OP-545, OP-674, OP-679, OP-685, OP-686, OP-687, OP-690, OP-691,
+OP-702, OP-703, OP-714, OP-715, OP-716, OP-721, OP-728, OP-746, OP-748,
+OP-749, OP-750, OP-758, OP-759, OP-760
+
+2012-11-12
+Implemented smoothing filter for accelerometer data.
+Added support for Mode 3 and Mode 4 to the TX Configuration Wizard.
+
+--- RELEASE-12.10.1 ---
+
+2012-10-26
+Temporary disabled AutoTune GCS GUI. It was listed as an experimental
+feature in the previous release, there were however a few cases where
+it did not behave as expected.
+
+--- RELEASE-12.10 ---
+
 2012-10-06
 Receiver port can now be configured as PPM *and* PWM inputs.
 Pin 1 is PPM, other pins are PWM inputs.
@@ -14,7 +43,7 @@ Several UI changes.
 MixerCurveWidget refactoring, now as a simple and advanced view.
 
 2012-07-27
-Added “advanced mode” option to general settings. Right now it only shows the hidden apply buttons.
+Added "advanced mode" option to general settings. Right now it only shows the hidden apply buttons.
 To enable go to tools->options->General and click one of the checkboxes to give focus to the form,
 then press F7
 

KNOWN_ISSUES.txt

@@ -1,10 +1,22 @@
-+ Halt/Reset buttons don't work if board is armed. But no way to use them if "Always armed". Use rescue as workaround.
-+ Missing Translations, use English.
-+ Radio Wizard confused by a reversed throttle, fix it on your transmitter before starting wizard.
-+ [Windows 8] USB Driver is broken.     
-+ Firmware Update Instructions on Firmware Tab not entirely accurate for all upgrade paths.
-+ Radio Wizard Throttle display does not show full range properly.
-+ Tricopter's using Vehicle Wizard need to check servo does not need reversed manually.
-+ XAircraft ESCs uses non-standard PPM range which may cause issues with Vehicle Wizard.
-+ Spectrum Satellite Receivers setup in Radio Wizard may have wrong protocol set.
-+ Old Intel 965 have an OpenGL bug that turns the QML PFD black and while.
+Here is a list of some known unresolved issues. If an issue has JIRA ID [OP-XXX], you may track it using the
+following URL: http://bugs.openpilot.org/browse/OP-XXX
+
++ Missing Translations, use English.
++ Radio Wizard confused by a reversed throttle, fix it on your transmitter before starting wizard.
++ Radio Wizard Throttle display does not show full range properly.
++ [Windows 8] USB Driver is broken.
++ Firmware Update Instructions on Firmware Tab not entirely accurate for all upgrade paths.
++ Tricopter's using Vehicle Wizard need to check servo does not need reversed manually.
++ XAircraft ESCs uses non-standard PPM range which may cause issues with Vehicle Wizard.
++ Spectrum Satellite Receivers setup in Radio Wizard may have wrong protocol set.
++ Old Intel 965 have an OpenGL bug that turns the QML PFD black and while.
++ [OP-732] Import UAV Settings for inactive modules crashes the running firmware (board restarts).
+           Workaround: update firmware, power cycle, enable modules, power cycle, import configuration.
++ [OP-747] Board infinitely reboots itself after firmware upgrade (settings erase firmware is a workaround).
++ [OP-723] GCS uses the system language ot the 1st run. After restart it uses English (can be changed later).
++ [OP-725] GCS camera stab config error message disappears too fast (but config error is cleared as it should)
++ [OP-767] GCS does not send AttitudeActual packets over serial port when GPS is connected and system is armed
++ [OP-768] GCS does not show UAV position on the map (master or next CC branches, but works in Revo branches)
++ [OP-682] GCS crashes on firmware page. Noted on Windows and OSX platforms, difficult to reproduce.
+           Workaround: use Vehicle setup wizard to update the firmware.
++ [OP-769] Can't enter "12,45" on German system. Workaround: change GCS language (in fact, locale) to German.

MILESTONES.txt

@@ -240,8 +240,8 @@ C:
 D:
 V:
 
-M: First Auto landing on a fixed Wing using Revo
-C: 
+M: First Auto spot landing on a fixed Wing using Revo
+C:
 D:
 V:
 

Makefile

@@ -445,7 +445,7 @@ dfuutil_clean:
 # see http://developer.android.com/sdk/ for latest versions
 ANDROID_SDK_DIR := $(TOOLS_DIR)/android-sdk-linux
 .PHONY: android_sdk_install
-android_sdk_install: ANDROID_SDK_URL  := http://dl.google.com/android/android-sdk_r20.0.3-linux.tgz
+android_sdk_install: ANDROID_SDK_URL  := http://dl.google.com/android/android-sdk_r21.0.1-linux.tgz
 android_sdk_install: ANDROID_SDK_FILE := $(notdir $(ANDROID_SDK_URL))
 # order-only prereq on directory existance:
 android_sdk_install: | $(DL_DIR) $(TOOLS_DIR)
@@ -466,7 +466,7 @@ android_sdk_clean:
 .PHONY: android_sdk_update
 android_sdk_update:
 	$(V0) @echo " UPDATE       $(ANDROID_SDK_DIR)"
-	$(ANDROID_SDK_DIR)/tools/android update sdk --no-ui -t platform-tools,android-16,addon-google_apis-google-16
+	$(ANDROID_SDK_DIR)/tools/android update sdk --no-ui -t platform-tools,android-14,addon-google_apis-google-14
 
 ##############################
 #
@@ -579,6 +579,7 @@ uavobjects_clean:
 #
 ################################
 
+ANDROIDGCS_BUILD_CONF ?= debug
 
 # Build the output directory for the Android GCS build
 ANDROIDGCS_OUT_DIR := $(BUILD_DIR)/androidgcs
@@ -601,12 +602,12 @@ endif
 androidgcs: uavo-collections_java
 	$(V0) @echo " ANDROID   $(call toprel, $(ANDROIDGCS_OUT_DIR))"
 	$(V1) mkdir -p $(ANDROIDGCS_OUT_DIR)
-	$(V1) $(ANDROID) $(ANDROID_SILENT) update project --target 'Google Inc.:Google APIs:16' --name androidgcs --path ./androidgcs
+	$(V1) $(ANDROID) $(ANDROID_SILENT) update project --target 'Google Inc.:Google APIs:14' --name androidgcs --path ./androidgcs
 	$(V1) ant -f ./androidgcs/build.xml \
 		$(ANT_QUIET) \
 		-Dout.dir="../$(call toprel, $(ANDROIDGCS_OUT_DIR)/bin)" \
 		-Dgen.absolute.dir="$(ANDROIDGCS_OUT_DIR)/gen" \
-		debug
+		$(ANDROIDGCS_BUILD_CONF)
 
 .PHONY: androidgcs_clean
 androidgcs_clean:
@@ -618,7 +619,7 @@ androidgcs_clean:
 #
 # Find the git hashes of each commit that changes uavobjects with:
 #   git log --format=%h -- shared/uavobjectdefinition/ | head -n 2
-UAVO_GIT_VERSIONS := 684620d 43f85d9
+UAVO_GIT_VERSIONS := 5e14f53
 
 # All versions includes a pseudo collection called "working" which represents
 # the UAVOs in the source tree
@@ -980,3 +981,12 @@ package:
 .PHONY: package_resources
 package_resources:
 	$(V1) cd package && $(MAKE) --no-print-directory opfw_resource
+
+.PHONY: build-info
+build-info:
+	$(V1) mkdir -p $(BUILD_DIR)
+	$(V1) python $(ROOT_DIR)/make/scripts/version-info.py \
+		--path=$(ROOT_DIR) \
+		--uavodir=$(ROOT_DIR)/shared/uavobjectdefinition \
+		--template="make/templates/$@.txt" \
+		--outfile="$(BUILD_DIR)/$@.txt"

OPLicenseTemplate.txt

@@ -1,46 +1,26 @@
-/**
- ******************************************************************************
- * @file       waypointeditorplugin.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @addtogroup Waypoint Editor GCS Plugins
- * @{
- * @addtogroup WaypointEditorGadgetPlugin Waypoint Editor Gadget Plugin
- * @{
- * @brief A gadget to edit a list of waypoints
- *****************************************************************************/
-/*
- * 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 WaypointEditorPLUGIN_H_
-#define WaypointEditorPLUGIN_H_
-
-#include <extensionsystem/iplugin.h>
-
-class WaypointEditorGadgetFactory;
-
-class WaypointEditorPlugin : public ExtensionSystem::IPlugin
-{
-public:
-    WaypointEditorPlugin();
-   ~WaypointEditorPlugin();
-
-   void extensionsInitialized();
-   bool initialize(const QStringList & arguments, QString * errorString);
-   void shutdown();
-private:
-   WaypointEditorGadgetFactory *mf;
-};
-#endif /* WaypointEditorPLUGIN_H_ */
+/**
+ ******************************************************************************
+ *
+ * @file       %FILENAME%
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup [Group]
+ * @{
+ * @addtogroup %CLASS%
+ * @{
+ * @brief [Brief]
+ *****************************************************************************/
+/*
+ * 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
+ */

flight/CopterControl/Makefile

@@ -77,6 +77,11 @@ USE_ALTITUDE ?= NO
 USE_AUTOTUNE ?= YES
 TEST_FAULTS ?= NO
 
+# Camera gimbal options
+USE_INPUT_LPF ?= YES
+USE_GIMBAL_LPF ?= YES
+USE_GIMBAL_FF ?= YES
+
 # List of optional modules to include
 OPTMODULES =
 ifeq ($(USE_CAMERASTAB), YES)
@@ -460,6 +465,18 @@ ifeq ($(USE_I2C), YES)
 CDEFS += -DUSE_I2C
 endif
 
+ifeq ($(USE_INPUT_LPF), YES)
+CDEFS += -DUSE_INPUT_LPF
+endif
+
+ifeq ($(USE_GIMBAL_LPF), YES)
+CDEFS += -DUSE_GIMBAL_LPF
+endif
+
+ifeq ($(USE_GIMBAL_FF), YES)
+CDEFS += -DUSE_GIMBAL_FF
+endif
+
 # Declare all non-optional modules as built-in to force inclusion
 CDEFS += ${foreach MOD, ${MODULES}, -DMODULE_$(MOD)_BUILTIN }
 

flight/Modules/Actuator/actuator.c

@@ -57,6 +57,8 @@
 #define FAILSAFE_TIMEOUT_MS 100
 #define MAX_MIX_ACTUATORS ACTUATORCOMMAND_CHANNEL_NUMELEM
 
+#define CAMERA_BOOT_DELAY_MS	7000
+
 // Private types
 
 
@@ -205,7 +207,7 @@ static void actuatorTask(void* parameters)
 		// Check how long since last update
 		thisSysTime = xTaskGetTickCount();
 		if(thisSysTime > lastSysTime) // reuse dt in case of wraparound
-			dT = (thisSysTime - lastSysTime) / portTICK_RATE_MS / 1000.0f;
+			dT = (thisSysTime - lastSysTime) * (portTICK_RATE_MS * 0.001f);
 		lastSysTime = thisSysTime;
 
 		FlightStatusGet(&flightStatus);
@@ -277,10 +279,15 @@ static void actuatorTask(void* parameters)
 
 		for(int ct=0; ct < MAX_MIX_ACTUATORS; ct++)
 		{
+			// During boot all camera actuators should be completely disabled (PWM pulse = 0).
+			// command.Channel[i] is reused below as a channel PWM activity flag:
+			// 0 - PWM disabled, >0 - PWM set to real mixer value using scaleChannel() later.
+			// Setting it to 1 by default means "Rescale this channel and enable PWM on its output".
+			command.Channel[ct] = 1;
+
 			if(mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_DISABLED) {
 				// Set to minimum if disabled.  This is not the same as saying PWM pulse = 0 us
 				status[ct] = -1;
-				command.Channel[ct] = 0;
 				continue;
 			}
 
@@ -289,8 +296,6 @@ static void actuatorTask(void* parameters)
 			else
 				status[ct] = -1;
 
-
-
 			// Motors have additional protection for when to be on
 			if(mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_MOTOR) {
 
@@ -322,6 +327,7 @@ static void actuatorTask(void* parameters)
 				else
 					status[ct] = -1;
 			}
+
 			if( (mixers[ct].type >= MIXERSETTINGS_MIXER1TYPE_CAMERAROLL) &&
 			   (mixers[ct].type <= MIXERSETTINGS_MIXER1TYPE_CAMERAYAW))
 			{
@@ -343,19 +349,26 @@ static void actuatorTask(void* parameters)
 				}
 				else
 					status[ct] = -1;
+
+				// Disable camera actuators for CAMERA_BOOT_DELAY_MS after boot
+				if (thisSysTime < (CAMERA_BOOT_DELAY_MS / portTICK_RATE_MS))
+					command.Channel[ct] = 0;
 			}
 		}
-		
-		for(int i = 0; i < MAX_MIX_ACTUATORS; i++) 
-			command.Channel[i] = scaleChannel(status[i],
+
+		// Set real actuator output values scaling them from mixers. All channels
+		// will be set except explicitly disabled (which will have PWM pulse = 0).
+		for (int i = 0; i < MAX_MIX_ACTUATORS; i++)
+			if (command.Channel[i])
+				command.Channel[i] = scaleChannel(status[i],
 							   actuatorSettings.ChannelMax[i],
 							   actuatorSettings.ChannelMin[i],
 							   actuatorSettings.ChannelNeutral[i]);
-			
+
 		// Store update time
-		command.UpdateTime = 1000.0f*dT;
-		if(1000.0f*dT > command.MaxUpdateTime)
-			command.MaxUpdateTime = 1000.0f*dT;
+		command.UpdateTime = dT * 1000.0f;
+		if (command.UpdateTime > command.MaxUpdateTime)
+			command.MaxUpdateTime = command.UpdateTime;
 		
 		// Update output object
 		ActuatorCommandSet(&command);

flight/Modules/Attitude/attitude.c

@@ -86,6 +86,10 @@ static void settingsUpdatedCb(UAVObjEvent * objEv);
 
 static float accelKi = 0;
 static float accelKp = 0;
+static float accel_alpha = 0;
+static bool accel_filter_enabled = false;
+static float accels_filtered[3];
+static float grot_filtered[3];
 static float yawBiasRate = 0;
 static float gyroGain = 0.42;
 static int16_t accelbias[3];
@@ -215,18 +219,22 @@ static void AttitudeTask(void *parameters)
 			accelKp = 1;
 			accelKi = 0.9;
 			yawBiasRate = 0.23;
+			accel_filter_enabled = false;
 			init = 0;
 		}
 		else if (zero_during_arming && (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) {
 			accelKp = 1;
 			accelKi = 0.9;
 			yawBiasRate = 0.23;
+			accel_filter_enabled = false;
 			init = 0;
 		} else if (init == 0) {
 			// Reload settings (all the rates)
 			AttitudeSettingsAccelKiGet(&accelKi);
 			AttitudeSettingsAccelKpGet(&accelKp);
 			AttitudeSettingsYawBiasRateGet(&yawBiasRate);
+			if (accel_alpha > 0.0f)
+				accel_filter_enabled = true;
 			init = 1;
 		}
 		
@@ -407,7 +415,6 @@ static int32_t updateSensorsCC3D(AccelsData * accelsData, GyrosData * gyrosData)
 	accelsData->x = accels[0] - accelbias[0] * ACCEL_SCALE; // Applying arbitrary scale here to match CC v1
 	accelsData->y = accels[1] - accelbias[1] * ACCEL_SCALE;
 	accelsData->z = accels[2] - accelbias[2] * ACCEL_SCALE;
-	AccelsSet(&accelsData);
 
 	gyrosData->x = gyros[0];
 	gyrosData->y = gyros[1];
@@ -430,6 +437,19 @@ static int32_t updateSensorsCC3D(AccelsData * accelsData, GyrosData * gyrosData)
 	return 0;
 }
 
+static inline void apply_accel_filter(const float *raw, float *filtered)
+{
+	if (accel_filter_enabled) {
+		filtered[0] = filtered[0] * accel_alpha + raw[0] * (1 - accel_alpha);
+		filtered[1] = filtered[1] * accel_alpha + raw[1] * (1 - accel_alpha);
+		filtered[2] = filtered[2] * accel_alpha + raw[2] * (1 - accel_alpha);
+	} else {
+		filtered[0] = raw[0];
+		filtered[1] = raw[1];
+		filtered[2] = raw[2];
+	}
+}
+
 static void updateAttitude(AccelsData * accelsData, GyrosData * gyrosData)
 {
 	float dT;
@@ -445,21 +465,38 @@ static void updateAttitude(AccelsData * accelsData, GyrosData * gyrosData)
 	
 	float grot[3];
 	float accel_err[3];
+
+	// Apply smoothing to accel values, to reduce vibration noise before main calculations.
+	apply_accel_filter(accels, accels_filtered);
 	
-	// Rotate gravity to body frame and cross with accels
+	// Rotate gravity unit vector to body frame, filter and cross with accels
 	grot[0] = -(2 * (q[1] * q[3] - q[0] * q[2]));
 	grot[1] = -(2 * (q[2] * q[3] + q[0] * q[1]));
 	grot[2] = -(q[0] * q[0] - q[1]*q[1] - q[2]*q[2] + q[3]*q[3]);
-	CrossProduct((const float *) accels, (const float *) grot, accel_err);
+
+	apply_accel_filter(grot, grot_filtered);
+	
+	CrossProduct((const float *)accels_filtered, (const float *)grot_filtered, accel_err);
 	
 	// Account for accel magnitude
-	float accel_mag = sqrtf(accels[0]*accels[0] + accels[1]*accels[1] + accels[2]*accels[2]);
-	if(accel_mag < 1.0e-3f)
+	float accel_mag = sqrtf(accels_filtered[0]*accels_filtered[0] + accels_filtered[1]*accels_filtered[1] + accels_filtered[2]*accels_filtered[2]);
+	if (accel_mag < 1.0e-3f)
 		return;
 
-	accel_err[0] /= accel_mag;
-	accel_err[1] /= accel_mag;
-	accel_err[2] /= accel_mag;
+	// Account for filtered gravity vector magnitude
+	float grot_mag;
+
+	if (accel_filter_enabled)
+		grot_mag = sqrtf(grot_filtered[0]*grot_filtered[0] + grot_filtered[1]*grot_filtered[1] + grot_filtered[2]*grot_filtered[2]);
+	else
+		grot_mag = 1.0f;
+
+	if (grot_mag < 1.0e-3f)
+		return;
+
+	accel_err[0] /= (accel_mag*grot_mag);
+	accel_err[1] /= (accel_mag*grot_mag);
+	accel_err[2] /= (accel_mag*grot_mag);
 	
 	// Accumulate integral of error.  Scale here so that units are (deg/s) but Ki has units of s
 	gyro_correct_int[0] += accel_err[0] * accelKi;
@@ -531,6 +568,16 @@ static void settingsUpdatedCb(UAVObjEvent * objEv) {
 	accelKi = attitudeSettings.AccelKi;
 	yawBiasRate = attitudeSettings.YawBiasRate;
 	gyroGain = attitudeSettings.GyroGain;
+
+	// Calculate accel filter alpha, in the same way as for gyro data in stabilization module.
+	const float fakeDt = 0.0025;
+	if (attitudeSettings.AccelTau < 0.0001) {
+		accel_alpha = 0;   // not trusting this to resolve to 0
+		accel_filter_enabled = false;
+	} else {
+		accel_alpha = expf(-fakeDt  / attitudeSettings.AccelTau);
+		accel_filter_enabled = true;
+	}
 	
 	zero_during_arming = attitudeSettings.ZeroDuringArming == ATTITUDESETTINGS_ZERODURINGARMING_TRUE;
 	bias_correct_gyro = attitudeSettings.BiasCorrectGyro == ATTITUDESETTINGS_BIASCORRECTGYRO_TRUE;

flight/Modules/CameraStab/camerastab.c

@@ -64,13 +64,28 @@
 static struct CameraStab_data {
 	portTickType lastSysTime;
 	float inputs[CAMERASTABSETTINGS_INPUT_NUMELEM];
-	float inputs_filtered[CAMERASTABSETTINGS_INPUT_NUMELEM];
+
+#ifdef USE_GIMBAL_LPF
+	float attitudeFiltered[CAMERASTABSETTINGS_INPUT_NUMELEM];
+#endif
+
+#ifdef USE_GIMBAL_FF
+	float ffLastAttitude[CAMERASTABSETTINGS_INPUT_NUMELEM];
+	float ffLastAttitudeFiltered[CAMERASTABSETTINGS_INPUT_NUMELEM];
+	float ffFilterAccumulator[CAMERASTABSETTINGS_INPUT_NUMELEM];
+#endif
+
 } *csd;
 
 // Private functions
 static void attitudeUpdated(UAVObjEvent* ev);
 static float bound(float val, float limit);
 
+#ifdef USE_GIMBAL_FF
+static void applyFeedForward(uint8_t index, float dT, float *attitude, CameraStabSettingsData *cameraStab);
+#endif
+
+
 /**
  * Initialise the module, called on startup
  * \returns 0 on success or -1 if initialisation failed
@@ -100,7 +115,7 @@ int32_t CameraStabInitialize(void)
 		if (!csd)
 			return -1;
 
-		// make sure that all inputs[] and inputs_filtered[] are zeroed
+		// initialize camera state variables
 		memset(csd, 0, sizeof(struct CameraStab_data));
 		csd->lastSysTime = xTaskGetTickCount();
 
@@ -139,15 +154,17 @@ static void attitudeUpdated(UAVObjEvent* ev)
 	CameraStabSettingsData cameraStab;
 	CameraStabSettingsGet(&cameraStab);
 
-	// Check how long since last update, time delta between calls in ms
+	// check how long since last update, time delta between calls in ms
 	portTickType thisSysTime = xTaskGetTickCount();
-	float dT = (thisSysTime > csd->lastSysTime) ?
-			(thisSysTime - csd->lastSysTime) / portTICK_RATE_MS :
-			(float)SAMPLE_PERIOD_MS / 1000.0f;
+	float dT_millis = (thisSysTime > csd->lastSysTime) ?
+				(float)((thisSysTime - csd->lastSysTime) * portTICK_RATE_MS) :
+				(float)SAMPLE_PERIOD_MS;
 	csd->lastSysTime = thisSysTime;
 
-	// Read any input channels and apply LPF
+	// process axes
 	for (uint8_t i = 0; i < CAMERASTABSETTINGS_INPUT_NUMELEM; i++) {
+
+		// read and process control input
 		if (cameraStab.Input[i] != CAMERASTABSETTINGS_INPUT_NONE) {
 			if (AccessoryDesiredInstGet(cameraStab.Input[i] - CAMERASTABSETTINGS_INPUT_ACCESSORY0, &accessory) == 0) {
 				float input_rate;
@@ -158,38 +175,59 @@ static void attitudeUpdated(UAVObjEvent* ev)
 				case CAMERASTABSETTINGS_STABILIZATIONMODE_AXISLOCK:
 					input_rate = accessory.AccessoryVal * cameraStab.InputRate[i];
 					if (fabs(input_rate) > cameraStab.MaxAxisLockRate)
-						csd->inputs[i] = bound(csd->inputs[i] + input_rate * dT / 1000.0f, cameraStab.InputRange[i]);
+						csd->inputs[i] = bound(csd->inputs[i] + input_rate * 0.001f * dT_millis, cameraStab.InputRange[i]);
 					break;
 				default:
 					PIOS_Assert(0);
 				}
-
-				// bypass LPF calculation if ResponseTime is zero
-				float rt = (float)cameraStab.ResponseTime[i];
-				if (rt)
-					csd->inputs_filtered[i] = (rt / (rt + dT)) * csd->inputs_filtered[i]
-								+ (dT / (rt + dT)) * csd->inputs[i];
-				else
-					csd->inputs_filtered[i] = csd->inputs[i];
 			}
 		}
+
+		// calculate servo output
+		float attitude;
+
+		switch (i) {
+		case CAMERASTABSETTINGS_INPUT_ROLL:
+			AttitudeActualRollGet(&attitude);
+			break;
+		case CAMERASTABSETTINGS_INPUT_PITCH:
+			AttitudeActualPitchGet(&attitude);
+			break;
+		case CAMERASTABSETTINGS_INPUT_YAW:
+			AttitudeActualYawGet(&attitude);
+			break;
+		default:
+			PIOS_Assert(0);
+		}
+
+#ifdef USE_GIMBAL_LPF
+		if (cameraStab.ResponseTime) {
+			float rt = (float)cameraStab.ResponseTime[i];
+			attitude = csd->attitudeFiltered[i] = ((rt * csd->attitudeFiltered[i]) + (dT_millis * attitude)) / (rt + dT_millis);
+		}
+#endif
+
+#ifdef USE_GIMBAL_FF
+		if (cameraStab.FeedForward[i])
+			applyFeedForward(i, dT_millis, &attitude, &cameraStab);
+#endif
+
+		// set output channels
+		float output = bound((attitude + csd->inputs[i]) / cameraStab.OutputRange[i], 1.0f);
+		switch (i) {
+		case CAMERASTABSETTINGS_INPUT_ROLL:
+			CameraDesiredRollSet(&output);
+			break;
+		case CAMERASTABSETTINGS_INPUT_PITCH:
+			CameraDesiredPitchSet(&output);
+			break;
+		case CAMERASTABSETTINGS_INPUT_YAW:
+			CameraDesiredYawSet(&output);
+			break;
+		default:
+			PIOS_Assert(0);
+		}
 	}
-
-	// Set output channels
-	float attitude;
-	float output;
-
-	AttitudeActualRollGet(&attitude);
-	output = bound((attitude + csd->inputs_filtered[CAMERASTABSETTINGS_INPUT_ROLL]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_ROLL], 1.0f);
-	CameraDesiredRollSet(&output);
-
-	AttitudeActualPitchGet(&attitude);
-	output = bound((attitude + csd->inputs_filtered[CAMERASTABSETTINGS_INPUT_PITCH]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_PITCH], 1.0f);
-	CameraDesiredPitchSet(&output);
-
-	AttitudeActualYawGet(&attitude);
-	output = bound((attitude + csd->inputs_filtered[CAMERASTABSETTINGS_INPUT_YAW]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_YAW], 1.0f);
-	CameraDesiredYawSet(&output);
 }
 
 float bound(float val, float limit)
@@ -198,6 +236,62 @@ float bound(float val, float limit)
 		(val < -limit) ? -limit :
 		val;
 }
+
+#ifdef USE_GIMBAL_FF
+void applyFeedForward(uint8_t index, float dT_millis, float *attitude, CameraStabSettingsData *cameraStab)
+{
+	// compensate high feed forward values depending on gimbal type
+	float gimbalTypeCorrection = 1.0f;
+
+	switch (cameraStab->GimbalType) {
+	case CAMERASTABSETTINGS_GIMBALTYPE_GENERIC:
+		// no correction
+		break;
+	case CAMERASTABSETTINGS_GIMBALTYPE_YAWROLLPITCH:
+		if (index == CAMERASTABSETTINGS_INPUT_ROLL) {
+			float pitch;
+			AttitudeActualPitchGet(&pitch);
+			gimbalTypeCorrection = (cameraStab->OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_PITCH] - fabs(pitch))
+							/ cameraStab->OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_PITCH];
+		}
+		break;
+	case CAMERASTABSETTINGS_GIMBALTYPE_YAWPITCHROLL:
+		if (index == CAMERASTABSETTINGS_INPUT_PITCH) {
+			float roll;
+			AttitudeActualRollGet(&roll);
+			gimbalTypeCorrection = (cameraStab->OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_ROLL] - fabs(roll))
+							/ cameraStab->OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_ROLL];
+		}
+		break;
+	default:
+		PIOS_Assert(0);
+	}
+
+	// apply feed forward
+	float accumulator = csd->ffFilterAccumulator[index];
+	accumulator += (*attitude - csd->ffLastAttitude[index]) * (float)cameraStab->FeedForward[index] * gimbalTypeCorrection;
+	csd->ffLastAttitude[index] = *attitude;
+	*attitude += accumulator;
+
+	float filter = (float)((accumulator > 0.0f) ? cameraStab->AccelTime[index] : cameraStab->DecelTime[index]) / dT_millis;
+	if (filter < 1.0f)
+		filter = 1.0f;
+	accumulator -= accumulator / filter;
+	csd->ffFilterAccumulator[index] = accumulator;
+	*attitude += accumulator;
+
+	// apply acceleration limit
+	float delta = *attitude - csd->ffLastAttitudeFiltered[index];
+	float maxDelta = (float)cameraStab->MaxAccel * 0.001f * dT_millis;
+
+	if (fabs(delta) > maxDelta) {
+		// we are accelerating too hard
+		*attitude = csd->ffLastAttitudeFiltered[index] + ((delta > 0.0f) ? maxDelta : -maxDelta);
+	}
+	csd->ffLastAttitudeFiltered[index] = *attitude;
+}
+#endif // USE_GIMBAL_FF
+
 /**
   * @}
   */

flight/Modules/ManualControl/manualcontrol.c

@@ -83,6 +83,11 @@ static xTaskHandle taskHandle;
 static ArmState_t armState;
 static portTickType lastSysTime;
 
+#ifdef USE_INPUT_LPF
+static portTickType lastSysTimeLPF;
+static float inputFiltered[MANUALCONTROLSETTINGS_RESPONSETIME_NUMELEM];
+#endif
+
 // Private functions
 static void updateActuatorDesired(ManualControlCommandData * cmd);
 static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualControlSettingsData * settings);
@@ -99,6 +104,10 @@ static bool okToArm(void);
 static bool validInputRange(int16_t min, int16_t max, uint16_t value);
 static void applyDeadband(float *value, float deadband);
 
+#ifdef USE_INPUT_LPF
+static void applyLPF(float *value, ManualControlSettingsResponseTimeElem channel, ManualControlSettingsData *settings, float dT);
+#endif
+
 #define RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP 12
 #define RCVR_ACTIVITY_MONITOR_MIN_RANGE 10
 struct rcvr_activity_fsm {
@@ -337,7 +346,18 @@ static void manualControlTask(void *parameters)
 					applyDeadband(&cmd.Pitch, settings.Deadband);
 					applyDeadband(&cmd.Yaw, settings.Deadband);
 				}
+#ifdef USE_INPUT_LPF
+				// Apply Low Pass Filter to input channels, time delta between calls in ms
+				portTickType thisSysTime = xTaskGetTickCount();
+				float dT = (thisSysTime > lastSysTimeLPF) ?
+						(float)((thisSysTime - lastSysTimeLPF) * portTICK_RATE_MS) :
+						(float)UPDATE_PERIOD_MS;
+				lastSysTimeLPF = thisSysTime;
 
+				applyLPF(&cmd.Roll, MANUALCONTROLSETTINGS_RESPONSETIME_ROLL, &settings, dT);
+				applyLPF(&cmd.Pitch, MANUALCONTROLSETTINGS_RESPONSETIME_PITCH, &settings, dT);
+				applyLPF(&cmd.Yaw, MANUALCONTROLSETTINGS_RESPONSETIME_YAW, &settings, dT);
+#endif // USE_INPUT_LPF
 				if(cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != (uint16_t) PIOS_RCVR_INVALID &&
 				   cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != (uint16_t) PIOS_RCVR_NODRIVER &&
 				   cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != (uint16_t) PIOS_RCVR_TIMEOUT)
@@ -348,6 +368,9 @@ static void manualControlTask(void *parameters)
 				if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY0] != 
 					MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
 					accessory.AccessoryVal = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY0];
+#ifdef USE_INPUT_LPF
+					applyLPF(&accessory.AccessoryVal, MANUALCONTROLSETTINGS_RESPONSETIME_ACCESSORY0, &settings, dT);
+#endif
 					if(AccessoryDesiredInstSet(0, &accessory) != 0)
 						AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
 				}
@@ -355,6 +378,9 @@ static void manualControlTask(void *parameters)
 				if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY1] != 
 					MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
 					accessory.AccessoryVal = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY1];
+#ifdef USE_INPUT_LPF
+					applyLPF(&accessory.AccessoryVal, MANUALCONTROLSETTINGS_RESPONSETIME_ACCESSORY1, &settings, dT);
+#endif
 					if(AccessoryDesiredInstSet(1, &accessory) != 0)
 						AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
 				}
@@ -362,6 +388,9 @@ static void manualControlTask(void *parameters)
 				if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY2] != 
 					MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
 					accessory.AccessoryVal = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY2];
+#ifdef USE_INPUT_LPF
+					applyLPF(&accessory.AccessoryVal, MANUALCONTROLSETTINGS_RESPONSETIME_ACCESSORY2, &settings, dT);
+#endif
 					if(AccessoryDesiredInstSet(2, &accessory) != 0)
 						AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
 				}
@@ -1033,6 +1062,20 @@ static void applyDeadband(float *value, float deadband)
 			*value += deadband;
 }
 
+#ifdef USE_INPUT_LPF
+/**
+ * @brief Apply Low Pass Filter to Throttle/Roll/Pitch/Yaw or Accessory channel
+ */
+static void applyLPF(float *value, ManualControlSettingsResponseTimeElem channel, ManualControlSettingsData *settings, float dT)
+{
+	if (settings->ResponseTime[channel]) {
+		float rt = (float)settings->ResponseTime[channel];
+		inputFiltered[channel] = ((rt * inputFiltered[channel]) + (dT * (*value))) / (rt + dT);
+		*value = inputFiltered[channel];
+	}
+}
+#endif // USE_INPUT_LPF
+
 /**
   * @}
   * @}

flight/Modules/Stabilization/stabilization.c

@@ -79,6 +79,7 @@ uint8_t max_axislock_rate = 0;
 float weak_leveling_kp = 0;
 uint8_t weak_leveling_max = 0;
 bool lowThrottleZeroIntegral;
+bool lowThrottleZeroAxis[MAX_AXES];
 float vbar_decay = 0.991f;
 struct pid pids[PID_MAX];
 
@@ -357,6 +358,18 @@ static void stabilizationTask(void* parameters)
 		actuatorDesired.UpdateTime = dT * 1000;
 		actuatorDesired.Throttle = stabDesired.Throttle;
 
+		// Suppress desired output while disarmed or throttle low, for configured axis
+		if (flightStatus.Armed != FLIGHTSTATUS_ARMED_ARMED || stabDesired.Throttle < 0) {
+			if (lowThrottleZeroAxis[ROLL])
+				actuatorDesired.Roll = 0.0f;
+
+			if (lowThrottleZeroAxis[PITCH])
+				actuatorDesired.Pitch = 0.0f;
+
+			if (lowThrottleZeroAxis[YAW])
+				actuatorDesired.Yaw = 0.0f;
+		}
+
 		if(PARSE_FLIGHT_MODE(flightStatus.FlightMode) != FLIGHTMODE_MANUAL) {
 			ActuatorDesiredSet(&actuatorDesired);
 		} else {
@@ -460,7 +473,12 @@ static void SettingsUpdatedCb(UAVObjEvent * ev)
 	
 	// Whether to zero the PID integrals while throttle is low
 	lowThrottleZeroIntegral = settings.LowThrottleZeroIntegral == STABILIZATIONSETTINGS_LOWTHROTTLEZEROINTEGRAL_TRUE;
-	
+
+	// Whether to suppress (zero) the StabilizationDesired output for each axis while disarmed or throttle is low
+	lowThrottleZeroAxis[ROLL] = settings.LowThrottleZeroAxis[STABILIZATIONSETTINGS_LOWTHROTTLEZEROAXIS_ROLL] == STABILIZATIONSETTINGS_LOWTHROTTLEZEROAXIS_TRUE;
+	lowThrottleZeroAxis[PITCH] = settings.LowThrottleZeroAxis[STABILIZATIONSETTINGS_LOWTHROTTLEZEROAXIS_PITCH] == STABILIZATIONSETTINGS_LOWTHROTTLEZEROAXIS_TRUE;
+	lowThrottleZeroAxis[YAW] = settings.LowThrottleZeroAxis[STABILIZATIONSETTINGS_LOWTHROTTLEZEROAXIS_YAW] == STABILIZATIONSETTINGS_LOWTHROTTLEZEROAXIS_TRUE;
+
 	// The dT has some jitter iteration to iteration that we don't want to
 	// make thie result unpredictable.  Still, it's nicer to specify the constant
 	// based on a time (in ms) rather than a fixed multiplier.  The error between

flight/Modules/Telemetry/telemetry.c

@@ -74,7 +74,6 @@ 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, int32_t eventType);
-static int32_t addObject(UAVObjHandle obj);
 static int32_t setUpdatePeriod(UAVObjHandle obj, int32_t updatePeriodMs);
 static void processObjEvent(UAVObjEvent * ev);
 static void updateTelemetryStats();
@@ -155,11 +154,31 @@ MODULE_INITCALL(TelemetryInitialize, TelemetryStart)
  */
 static void registerObject(UAVObjHandle obj)
 {
-	// Setup object for periodic updates
-	addObject(obj);
+	if (UAVObjIsMetaobject(obj)) {
+		/* Only connect change notifications for meta objects.  No periodic updates */
+		UAVObjConnectQueue(obj, priorityQueue, EV_MASK_ALL_UPDATES);
+		return;
+	} else {
+		UAVObjMetadata metadata;
+		UAVObjUpdateMode updateMode;
+		UAVObjGetMetadata(obj, &metadata);
+		updateMode = UAVObjGetTelemetryUpdateMode(&metadata);
 
-	// Setup object for telemetry updates
-	updateObject(obj, EV_NONE);
+		/* Only create a periodic event for objects that are periodic */
+		if ((updateMode == UPDATEMODE_PERIODIC) ||
+			(updateMode == UPDATEMODE_THROTTLED)) {
+			// Setup object for periodic updates
+			UAVObjEvent ev = {
+				.obj    = obj,
+				.instId = UAVOBJ_ALL_INSTANCES,
+				.event  = EV_UPDATED_PERIODIC,
+			};
+			EventPeriodicQueueCreate(&ev, queue, 0);
+		}
+
+		// Setup object for telemetry updates
+		updateObject(obj, EV_NONE);
+	}
 }
 
 /**
@@ -172,30 +191,35 @@ static void updateObject(UAVObjHandle obj, int32_t eventType)
 	UAVObjUpdateMode updateMode;
 	int32_t eventMask;
 
+	if (UAVObjIsMetaobject(obj)) {
+		/* This function updates the periodic updates for the object.
+		 * Meta Objects cannot have periodic updates.
+		 */
+		PIOS_Assert(false);
+		return;
+	}
+
 	// Get metadata
 	UAVObjGetMetadata(obj, &metadata);
 	updateMode = UAVObjGetTelemetryUpdateMode(&metadata);
 
 	// Setup object depending on update mode
-	if (updateMode == UPDATEMODE_PERIODIC) {
+	switch (updateMode) {
+	case UPDATEMODE_PERIODIC:
 		// Set update period
 		setUpdatePeriod(obj, metadata.telemetryUpdatePeriod);
 		// Connect queue
 		eventMask = EV_UPDATED_PERIODIC | 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 (updateMode == UPDATEMODE_ONCHANGE) {
+		break;
+	case 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 (updateMode == UPDATEMODE_THROTTLED) {
+		break;
+	case UPDATEMODE_THROTTLED:
 		if ((eventType == EV_UPDATED_PERIODIC) || (eventType == EV_NONE)) {
 			// If we received a periodic update, we can change back to update on change
 			eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
@@ -206,19 +230,15 @@ static void updateObject(UAVObjHandle obj, int32_t eventType)
 			// Otherwise, we just received an object update, so switch to periodic for the timeout period to prevent more updates
 			eventMask = EV_UPDATED_PERIODIC | 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 (updateMode == UPDATEMODE_MANUAL) {
+		break;
+	case 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);
+		break;
 	}
 }
 
@@ -272,11 +292,11 @@ static void processObjEvent(UAVObjEvent * ev)
 		// If this is a metaobject then make necessary telemetry updates
 		if (UAVObjIsMetaobject(ev->obj)) {
 			updateObject(UAVObjGetLinkedObj(ev->obj), EV_NONE);	// linked object will be the actual object the metadata are for
-		}
-
-		if((updateMode == UPDATEMODE_THROTTLED) && !UAVObjIsMetaobject(ev->obj)) {
-			// If this is UPDATEMODE_THROTTLED, the event mask changes on every event.
-			updateObject(ev->obj, ev->event);
+		} else {
+			if (updateMode == UPDATEMODE_THROTTLED) {
+				// If this is UPDATEMODE_THROTTLED, the event mask changes on every event.
+				updateObject(ev->obj, ev->event);
+			}
 		}
 	}
 }
@@ -361,23 +381,6 @@ static int32_t transmitData(uint8_t * data, int32_t length)
 	return -1;
 }
 
-/**
- * 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_PERIODIC;
-	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

flight/PiOS/Common/pios_flash_jedec.c

@@ -196,7 +196,6 @@ int32_t PIOS_Flash_Jedec_Init(uint32_t spi_id, uint32_t slave_num, const struct
  */
 int32_t PIOS_Flash_Jedec_StartTransaction()
 {
-	return 0;
 #if defined(FLASH_FREERTOS)
 	if(PIOS_Flash_Jedec_Validate(flash_dev) != 0)
 		return -1;
@@ -213,7 +212,6 @@ int32_t PIOS_Flash_Jedec_StartTransaction()
  */
 int32_t PIOS_Flash_Jedec_EndTransaction()
 {
-	return 0;
 #if defined(FLASH_FREERTOS)
 	if(PIOS_Flash_Jedec_Validate(flash_dev) != 0)
 		return -1;

flight/PiOS/Common/pios_mpu6000.c

@@ -272,7 +272,7 @@ static int32_t PIOS_MPU6000_SetReg(uint8_t reg, uint8_t data)
 /**
  * @brief Read current X, Z, Y values (in that order)
  * \param[out] int16_t array of size 3 to store X, Z, and Y magnetometer readings
- * \returns The number of samples remaining in the fifo
+ * \returns 0 if succesful
  */
 int32_t PIOS_MPU6000_ReadGyros(struct pios_mpu6000_data * data)
 {

flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h

@@ -103,7 +103,7 @@ extern "C" {
 /* Architecture specifics. */
 #define portSTACK_GROWTH			( -1 )
 #define portTICK_RATE_MS			( ( portTickType ) 1000 / configTICK_RATE_HZ )		
-#define portBYTE_ALIGNMENT			8
+#define portBYTE_ALIGNMENT			4
 /*-----------------------------------------------------------*/	
 
 

flight/PiOS/STM32F10x/pios_wdg.c

@@ -94,6 +94,9 @@ uint16_t PIOS_WDG_Init()
  */
 bool PIOS_WDG_RegisterFlag(uint16_t flag_requested) 
 {
+	// flag are being registered so we are in module initialization phase
+	// clear the WDG to prevent timeout while initializing modules. (OP-815)
+	PIOS_WDG_Clear();
 	
 	/* Fail if flag already registered */
 	if(wdg_configuration.used_flags & flag_requested)

flight/PiOS/STM32F4xx/pios_tim.c

@@ -47,26 +47,8 @@ struct pios_tim_dev {
 	const struct pios_tim_callbacks * callbacks;
 	uint32_t context;
 };
+#define PIOS_TIM_ALL_FLAGS TIM_IT_CC1 | TIM_IT_CC2 | TIM_IT_CC3 | TIM_IT_CC4 | TIM_IT_Trigger | TIM_IT_Update
 
-#if 0
-static bool PIOS_TIM_validate(struct pios_tim_dev * tim_dev)
-{
-	return (tim_dev->magic == PIOS_TIM_DEV_MAGIC);
-}
-#endif
-
-#if defined(PIOS_INCLUDE_FREERTOS) && 0
-static struct pios_tim_dev * PIOS_TIM_alloc(void)
-{
-	struct pios_tim_dev * tim_dev;
-
-	tim_dev = (struct pios_tim_dev *)malloc(sizeof(*tim_dev));
-	if (!tim_dev) return(NULL);
-
-	tim_dev->magic = PIOS_TIM_DEV_MAGIC;
-	return(tim_dev);
-}
-#else
 static struct pios_tim_dev pios_tim_devs[PIOS_TIM_MAX_DEVS];
 static uint8_t pios_tim_num_devs;
 static struct pios_tim_dev * PIOS_TIM_alloc(void)
@@ -82,8 +64,6 @@ static struct pios_tim_dev * PIOS_TIM_alloc(void)
 
 	return (tim_dev);
 }
-#endif
-
 
 
 
@@ -105,7 +85,6 @@ int32_t PIOS_TIM_InitClock(const struct pios_tim_clock_cfg * cfg)
 		case (uint32_t)TIM4:
 			RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
 			break;
-#ifdef STM32F10X_HD
 		case (uint32_t)TIM5:
 			RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
 			break;
@@ -127,16 +106,15 @@ int32_t PIOS_TIM_InitClock(const struct pios_tim_clock_cfg * cfg)
 		case (uint32_t)TIM11:
 			RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM11, ENABLE);
 			break;
-                case (uint32_t)TIM12:
+		case (uint32_t)TIM12:
 			RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM12, ENABLE);
 			break;
-                case (uint32_t)TIM13:
+		case (uint32_t)TIM13:
 			RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM13, ENABLE);
 			break;         
-                case (uint32_t)TIM14:
+		case (uint32_t)TIM14:
 			RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM14, ENABLE);
 			break;
-#endif
 	}
 
 	/* Configure the dividers for this timer */
@@ -348,68 +326,6 @@ static void PIOS_TIM_generic_irq_handler(TIM_TypeDef * timer)
 		}
 	}
 }
-#if 0
-	uint16_t val = 0;
-	for(uint8_t i = 0; i < pios_pwm_cfg.num_channels; i++) {
-		struct pios_pwm_channel channel = pios_pwm_cfg.channels[i];
-		if ((channel.timer == timer) && (TIM_GetITStatus(channel.timer, channel.ccr) == SET)) {
-			
-			TIM_ClearITPendingBit(channel.timer, channel.ccr);
-			
-			switch(channel.channel) {
-				case TIM_Channel_1:
-					val = TIM_GetCapture1(channel.timer);
-					break;
-				case TIM_Channel_2:
-					val = TIM_GetCapture2(channel.timer);
-					break;
-				case TIM_Channel_3:
-					val = TIM_GetCapture3(channel.timer);
-					break;
-				case TIM_Channel_4:
-					val = TIM_GetCapture4(channel.timer);
-					break;					
-			}
-			
-			if (CaptureState[i] == 0) {
-				RiseValue[i] = val; 
-			} else {
-				FallValue[i] = val;
-			}
-			
-			// flip state machine and capture value here
-			/* Simple rise or fall state machine */
-			TIM_ICInitTypeDef TIM_ICInitStructure = pios_pwm_cfg.tim_ic_init;
-			if (CaptureState[i] == 0) {
-				/* Switch states */
-				CaptureState[i] = 1;
-				
-				/* Switch polarity of input capture */
-				TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
-				TIM_ICInitStructure.TIM_Channel = channel.channel;
-				TIM_ICInit(channel.timer, &TIM_ICInitStructure);				
-			} else {
-				/* Capture computation */
-				if (FallValue[i] > RiseValue[i]) {
-					CaptureValue[i] = (FallValue[i] - RiseValue[i]);
-				} else {
-					CaptureValue[i] = ((channel.timer->ARR - RiseValue[i]) + FallValue[i]);
-				}
-				
-				/* Switch states */
-				CaptureState[i] = 0;
-				
-				/* Increase supervisor counter */
-				CapCounter[i]++;
-				
-				/* Switch polarity of input capture */
-				TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
-				TIM_ICInitStructure.TIM_Channel = channel.channel;
-				TIM_ICInit(channel.timer, &TIM_ICInitStructure);
-			}
-		}		
-	}
-#endif
 
 /* Bind Interrupt Handlers
  *
@@ -422,31 +338,6 @@ static void PIOS_TIM_1_CC_irq_handler (void)
 	PIOS_TIM_generic_irq_handler (TIM1);
 }
 
-// The rest of TIM1 interrupts are overlapped
-void TIM1_BRK_TIM9_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_9_CC_irq_handler")));
-static void PIOS_TIM_9_CC_irq_handler (void)
-{
-	// TODO: Check for TIM1_BRK
-	PIOS_TIM_generic_irq_handler (TIM9);
-}
-
-void TIM1_UP_TIM10_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_10_CC_irq_handler")));
-static void PIOS_TIM_10_CC_irq_handler (void)
-{
-	if (TIM_GetITStatus(TIM1, TIM_IT_Update)) {
-		PIOS_TIM_generic_irq_handler(TIM1);
-	} else if (TIM_GetITStatus(TIM10, TIM_IT_CC1 | TIM_IT_CC2 | TIM_IT_CC3 | TIM_IT_CC4)) {
-		PIOS_TIM_generic_irq_handler (TIM10);
-	}
-}
-
-void TIM1_TRG_COM_TIM11_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_11_CC_irq_handler")));
-static void PIOS_TIM_11_CC_irq_handler (void)
-{
-	// TODO: Check for TIM1_TRG
-	PIOS_TIM_generic_irq_handler (TIM11);
-}
-
 void TIM2_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_2_irq_handler")));
 static void PIOS_TIM_2_irq_handler (void)
 {
@@ -495,12 +386,84 @@ static void PIOS_TIM_8_CC_irq_handler (void)
 	PIOS_TIM_generic_irq_handler (TIM8);
 }
 
+// The rest of TIM1 interrupts are overlapped
+void TIM1_BRK_TIM9_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_9_CC_irq_handler")));
+static void PIOS_TIM_9_CC_irq_handler (void)
+{
+	if (TIM_GetITStatus(TIM1, TIM_IT_Break))
+	{
+		PIOS_TIM_generic_irq_handler(TIM1);
+	}
+	else if (TIM_GetITStatus(TIM9, PIOS_TIM_ALL_FLAGS))
+	{
+		PIOS_TIM_generic_irq_handler (TIM9);
+	}
+}
+
+void TIM1_UP_TIM10_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_10_CC_irq_handler")));
+static void PIOS_TIM_10_CC_irq_handler (void)
+{
+	if (TIM_GetITStatus(TIM1, TIM_IT_Update))
+	{
+		PIOS_TIM_generic_irq_handler(TIM1);
+	}
+	else if (TIM_GetITStatus(TIM10, PIOS_TIM_ALL_FLAGS))
+	{
+		PIOS_TIM_generic_irq_handler (TIM10);
+	}
+}
+
+void TIM1_TRG_COM_TIM11_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_11_CC_irq_handler")));
+static void PIOS_TIM_11_CC_irq_handler (void)
+{
+	if(TIM_GetITStatus(TIM1, TIM_IT_COM | TIM_IT_Trigger))
+	{
+		PIOS_TIM_generic_irq_handler (TIM1);
+	}
+	else if (TIM_GetITStatus(TIM11, PIOS_TIM_ALL_FLAGS))
+	{
+		PIOS_TIM_generic_irq_handler (TIM11);
+	}
+}
+
 void TIM8_BRK_TIM12_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_12_irq_handler")));
 static void PIOS_TIM_12_irq_handler (void)
 {
-	PIOS_TIM_generic_irq_handler (TIM12);
+	if(TIM_GetITStatus(TIM8, TIM_IT_Break))
+	{
+		PIOS_TIM_generic_irq_handler (TIM8);
+	}
+	else if (TIM_GetITStatus(TIM12, PIOS_TIM_ALL_FLAGS))
+	{
+		PIOS_TIM_generic_irq_handler (TIM12);
+	}
 }
 
+void TIM8_UP_TIM13_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM8_UP_TIM13_IRQHandler")));
+static void PIOS_TIM8_UP_TIM13_IRQHandler (void)
+{
+	if(TIM_GetITStatus(TIM8, TIM_IT_Update))
+	{
+		PIOS_TIM_generic_irq_handler (TIM8);
+	}
+	else if (TIM_GetITStatus(TIM13, PIOS_TIM_ALL_FLAGS))
+	{
+		PIOS_TIM_generic_irq_handler (TIM13);
+	}
+}
+
+void TIM8_TRG_COM_TIM14_IRQHandler (void) __attribute__ ((alias ("PIOS_TIM8_TRG_COM_TIM14_IRQHandler")));
+static void PIOS_TIM8_TRG_COM_TIM14_IRQHandler (void)
+{
+	if(TIM_GetITStatus(TIM8, TIM_IT_COM | TIM_IT_Trigger))
+	{
+		PIOS_TIM_generic_irq_handler (TIM8);
+	}
+	else if (TIM_GetITStatus(TIM14, PIOS_TIM_ALL_FLAGS))
+	{
+		PIOS_TIM_generic_irq_handler (TIM14);
+	}
+}
 
 /**
  * @}

flight/PiOS/STM32F4xx/pios_wdg.c

@@ -98,7 +98,10 @@ uint16_t PIOS_WDG_Init()
  */
 bool PIOS_WDG_RegisterFlag(uint16_t flag_requested) 
 {
-	
+	// flag are being registered so we are in module initialization phase
+	// clear the WDG to prevent timeout while initializing modules. (OP-815)
+	PIOS_WDG_Clear();
+
 	/* Fail if flag already registered */
 	if(wdg_configuration.used_flags & flag_requested)
 		return false;

flight/UAVObjects/inc/uavobjecttemplate.h

@@ -46,40 +46,53 @@
 #define $(NAMEUC)_ISSETTINGS $(ISSETTINGS)
 #define $(NAMEUC)_NUMBYTES sizeof($(NAME)Data)
 
-// Object access macros
-/**
- * @function $(NAME)Get(dataOut)
- * @brief Populate a $(NAME)Data object
- * @param[out] dataOut 
- */
-#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(),&$(NAME)SetDefaults)
-#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)
-#define $(NAME)ReadOnly() UAVObjReadOnly($(NAME)Handle())
+// Generic interface functions
+int32_t $(NAME)Initialize();
+UAVObjHandle $(NAME)Handle();
+void $(NAME)SetDefaults(UAVObjHandle obj, uint16_t instId);
 
 // Object data
 typedef struct {
 $(DATAFIELDS)
 } __attribute__((packed)) $(NAME)Data;
 
+// Typesafe Object access functions
+/**
+ * @function $(NAME)Get(dataOut)
+ * @brief Populate a $(NAME)Data object
+ * @param[out] dataOut 
+ */
+static inline int32_t $(NAME)Get($(NAME)Data *dataOut) { return UAVObjGetData($(NAME)Handle(), dataOut); }
+
+static inline int32_t $(NAME)Set(const $(NAME)Data *dataIn) { return UAVObjSetData($(NAME)Handle(), dataIn); }
+
+static inline int32_t $(NAME)InstGet(uint16_t instId, $(NAME)Data *dataOut) { return UAVObjGetInstanceData($(NAME)Handle(), instId, dataOut); }
+
+static inline int32_t $(NAME)InstSet(uint16_t instId, const $(NAME)Data *dataIn) { return UAVObjSetInstanceData($(NAME)Handle(), instId, dataIn); }
+
+static inline int32_t $(NAME)ConnectQueue(xQueueHandle queue) { return UAVObjConnectQueue($(NAME)Handle(), queue, EV_MASK_ALL_UPDATES); }
+
+static inline int32_t $(NAME)ConnectCallback(UAVObjEventCallback cb) { return UAVObjConnectCallback($(NAME)Handle(), cb, EV_MASK_ALL_UPDATES); }
+
+static inline uint16_t $(NAME)CreateInstance() { return UAVObjCreateInstance($(NAME)Handle(), &$(NAME)SetDefaults); }
+
+static inline void $(NAME)RequestUpdate() { UAVObjRequestUpdate($(NAME)Handle()); }
+
+static inline void $(NAME)RequestInstUpdate(uint16_t instId) { UAVObjRequestInstanceUpdate($(NAME)Handle(), instId); }
+
+static inline void $(NAME)Updated() { UAVObjUpdated($(NAME)Handle()); }
+
+static inline void $(NAME)InstUpdated(uint16_t instId) { UAVObjInstanceUpdated($(NAME)Handle(), instId); }
+
+static inline int32_t $(NAME)GetMetadata(UAVObjMetadata *dataOut) { return UAVObjGetMetadata($(NAME)Handle(), dataOut); }
+
+static inline int32_t $(NAME)SetMetadata(const UAVObjMetadata *dataIn) { return UAVObjSetMetadata($(NAME)Handle(), dataIn); }
+
+static inline int8_t $(NAME)ReadOnly() { return UAVObjReadOnly($(NAME)Handle()); }
+
 // Field information
 $(DATAFIELDINFO)
 
-// Generic interface functions
-int32_t $(NAME)Initialize();
-UAVObjHandle $(NAME)Handle();
-void $(NAME)SetDefaults(UAVObjHandle obj, uint16_t instId);
-
 // set/Get functions
 $(SETGETFIELDSEXTERN)
 

flight/UAVObjects/uavobjectmanager.c

@@ -41,6 +41,17 @@
 // Macros
 #define SET_BITS(var, shift, value, mask) var = (var & ~(mask << shift)) | (value << shift);
 
+/* Table of UAVO handles registered at compile time */
+extern struct UAVOData * __start__uavo_handles[] __attribute__((weak));
+extern struct UAVOData * __stop__uavo_handles[] __attribute__((weak));
+
+#define UAVO_LIST_ITERATE(_item) \
+for (struct UAVOData ** _uavo_slot = __start__uavo_handles; \
+     _uavo_slot && _uavo_slot < __stop__uavo_handles; \
+     _uavo_slot++) { \
+	struct UAVOData * _item = *_uavo_slot; \
+	if (_item == NULL) continue;
+
 /**
  * List of event queues and the eventmask associated with the queue.
  */
@@ -98,7 +109,6 @@ struct UAVOData {
 	 * inside the payload for this UAVO.
 	 */
 	struct UAVOMeta   metaObj;
-	struct UAVOData * next;
 	uint16_t          instance_size;
 } __attribute__((packed));
 
@@ -164,7 +174,6 @@ static void customSPrintf(uint8_t * buffer, uint8_t * format, ...);
 #endif
 
 // Private variables
-static struct UAVOData * uavo_list;
 static xSemaphoreHandle mutex;
 static const UAVObjMetadata defMetadata = {
 	.flags = (ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
@@ -188,9 +197,12 @@ static UAVObjStats stats;
 int32_t UAVObjInitialize()
 {
 	// Initialize variables
-	uavo_list = NULL;
 	memset(&stats, 0, sizeof(UAVObjStats));
 
+	// Initialize the uavo handle table
+	memset(__start__uavo_handles, 0,
+		(uintptr_t)__stop__uavo_handles - (uintptr_t)__start__uavo_handles);
+
 	// Create mutex
 	mutex = xSemaphoreCreateRecursiveMutex();
 	if (mutex == NULL)
@@ -338,9 +350,6 @@ UAVObjHandle UAVObjRegister(uint32_t id,
 	/* Initialize the embedded meta UAVO */
 	UAVObjInitMetaData (&uavo_data->metaObj);
 
-	/* Add the newly created object to the global list of objects */
-	LL_APPEND(uavo_list, uavo_data);
-
 	/* Initialize object fields and metadata to default values */
 	if (initCb)
 		initCb((UAVObjHandle) uavo_data, 0);
@@ -374,8 +383,7 @@ UAVObjHandle UAVObjGetByID(uint32_t id)
 	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	// Look for object
-	struct UAVOData * tmp_obj;
-	LL_FOREACH(uavo_list, tmp_obj) {
+	UAVO_LIST_ITERATE(tmp_obj)
 		if (tmp_obj->id == id) {
 			found_obj = (UAVObjHandle *)tmp_obj;
 			goto unlock_exit;
@@ -1019,15 +1027,13 @@ int32_t UAVObjDelete(UAVObjHandle obj_handle, uint16_t instId)
  */
 int32_t UAVObjSaveSettings()
 {
-	struct UAVOData *obj;
-
 	// Get lock
 	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	int32_t rc = -1;
 
 	// Save all settings objects
-	LL_FOREACH(uavo_list, obj) {
+	UAVO_LIST_ITERATE(obj)
 		// Check if this is a settings object
 		if (UAVObjIsSettings(obj)) {
 			// Save object
@@ -1051,15 +1057,13 @@ unlock_exit:
  */
 int32_t UAVObjLoadSettings()
 {
-	struct UAVOData *obj;
-
 	// Get lock
 	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	int32_t rc = -1;
 
 	// Load all settings objects
-	LL_FOREACH(uavo_list, obj) {
+	UAVO_LIST_ITERATE(obj)
 		// Check if this is a settings object
 		if (UAVObjIsSettings(obj)) {
 			// Load object
@@ -1083,15 +1087,13 @@ unlock_exit:
  */
 int32_t UAVObjDeleteSettings()
 {
-	struct UAVOData *obj;
-
 	// Get lock
 	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	int32_t rc = -1;
 
 	// Save all settings objects
-	LL_FOREACH(uavo_list, obj) {
+	UAVO_LIST_ITERATE(obj)
 		// Check if this is a settings object
 		if (UAVObjIsSettings(obj)) {
 			// Save object
@@ -1115,15 +1117,13 @@ unlock_exit:
  */
 int32_t UAVObjSaveMetaobjects()
 {
-	struct UAVOData *obj;
-
 	// Get lock
 	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	int32_t rc = -1;
 
 	// Save all settings objects
-	LL_FOREACH(uavo_list, obj) {
+	UAVO_LIST_ITERATE(obj)
 		// Save object
 		if (UAVObjSave( (UAVObjHandle) MetaObjectPtr(obj), 0) ==
 			-1) {
@@ -1144,15 +1144,13 @@ unlock_exit:
  */
 int32_t UAVObjLoadMetaobjects()
 {
-	struct UAVOData *obj;
-
 	// Get lock
 	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	int32_t rc = -1;
 
 	// Load all settings objects
-	LL_FOREACH(uavo_list, obj) {
+	UAVO_LIST_ITERATE(obj)
 		// Load object
 		if (UAVObjLoad((UAVObjHandle) MetaObjectPtr(obj), 0) ==
 			-1) {
@@ -1173,15 +1171,13 @@ unlock_exit:
  */
 int32_t UAVObjDeleteMetaobjects()
 {
-	struct UAVOData *obj;
-
 	// Get lock
 	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	int32_t rc = -1;
 
 	// Load all settings objects
-	LL_FOREACH(uavo_list, obj) {
+	UAVO_LIST_ITERATE(obj)
 		// Load object
 		if (UAVObjDelete((UAVObjHandle) MetaObjectPtr(obj), 0)
 			== -1) {
@@ -1787,8 +1783,7 @@ void UAVObjIterate(void (*iterator) (UAVObjHandle obj))
 	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	// Iterate through the list and invoke iterator for each object
-	struct UAVOData *obj;
-	LL_FOREACH(uavo_list, obj) {
+	UAVO_LIST_ITERATE(obj)
 		(*iterator) ((UAVObjHandle) obj);
 		(*iterator) ((UAVObjHandle) &obj->metaObj);
 	}

flight/UAVObjects/uavobjecttemplate.c

@@ -40,7 +40,7 @@
 #include "$(NAMELC).h"
 
 // Private variables
-static UAVObjHandle handle = NULL;
+static UAVObjHandle handle __attribute__((section("_uavo_handles")));
 
 /**
  * Initialize object.

ground/openpilotgcs/copydata.pro

@@ -6,6 +6,7 @@ TEMPLATE = subdirs
 equals(copydata, 1) {
 
     # Windows release only, no debug target DLLs ending with 'd'
+    # It is assumed that SDL.dll can be found in the same directory as mingw32-make.exe
     win32:CONFIG(release, debug|release) {
 
         # copy Qt DLLs and phonon4
@@ -29,7 +30,7 @@ equals(copydata, 1) {
         MINGW_DLLS = libgcc_s_dw2-1.dll \
                      mingwm10.dll
         for(dll, MINGW_DLLS) {
-            data_copy.commands += $(COPY_FILE) $$targetPath(\"$$[QT_INSTALL_BINS]/../../../../../mingw/bin/$$dll\") $$targetPath(\"$$GCS_APP_PATH/$$dll\") $$addNewline()
+            data_copy.commands += $(COPY_FILE) $$targetPath(\"$$(QTMINGW)/$$dll\") $$targetPath(\"$$GCS_APP_PATH/$$dll\") $$addNewline()
         }
 
         # copy iconengines
@@ -74,7 +75,7 @@ equals(copydata, 1) {
         #   xcopy /s /e <SDL>\include\SDL\* C:\QtSDK\Desktop\Qt\4.7.3\mingw\include\SDL
         #   xcopy /s /e <SDL>\lib\*         C:\QtSDK\Desktop\Qt\4.7.3\mingw\lib
         SDL_DLL = SDL.dll
-        data_copy.commands += $(COPY_FILE) $$targetPath(\"$$[QT_INSTALL_BINS]/../../mingw/bin/$$SDL_DLL\") $$targetPath(\"$$GCS_APP_PATH/$$SDL_DLL\") $$addNewline()
+        data_copy.commands += $(COPY_FILE) $$targetPath(\"$$(QTMINGW)/$$SDL_DLL\") $$targetPath(\"$$GCS_APP_PATH/$$SDL_DLL\") $$addNewline()
 
         data_copy.target = FORCE
         QMAKE_EXTRA_TARGETS += data_copy

ground/openpilotgcs/openpilotgcs.pro

@@ -9,6 +9,8 @@ include(openpilotgcs.pri)
 TEMPLATE  = subdirs
 CONFIG   += ordered
 
+DEFINES += USE_PATHPLANNER
+
 SUBDIRS = src share copydata
 unix:!macx:!isEmpty(copydata):SUBDIRS += bin
 

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

@@ -5,8 +5,8 @@
     <UDPMirror>false</UDPMirror>
     <Description>Default configuration</Description>
     <Details>Default configuration built to work on all screen sizes</Details>
-    <ExpertMode>true</ExpertMode>
-    <OverrideLanguage>en_AU</OverrideLanguage>
+    <ExpertMode>false</ExpertMode>
+    <OverrideLanguage>C</OverrideLanguage>
     <SaveSettingsOnExit>true</SaveSettingsOnExit>
     <SettingsWindowHeight>700</SettingsWindowHeight>
     <SettingsWindowWidth>800</SettingsWindowWidth>
@@ -2538,22 +2538,6 @@
         </data>
       </default>
     </UAVObjectBrowser>
-    <Uploader>
-      <default>
-        <configInfo>
-          <locked>false</locked>
-          <version>0.0.0</version>
-        </configInfo>
-        <data>
-          <defaultDataBits>3</defaultDataBits>
-          <defaultFlow>0</defaultFlow>
-          <defaultParity>0</defaultParity>
-          <defaultPort>/dev/ttyS0</defaultPort>
-          <defaultSpeed>14</defaultSpeed>
-          <defaultStopBits>0</defaultStopBits>
-        </data>
-      </default>
-    </Uploader>
     <configInfo>
       <locked>false</locked>
       <version>1.2.0</version>
@@ -2666,27 +2650,18 @@
         </side0>
         <side1>
           <side0>
-            <side0>
-              <classId>LoggingGadget</classId>
-              <type>uavGadget</type>
-            </side0>
-            <side1>
-              <classId>GpsDisplayGadget</classId>
-              <gadget>
-                <activeConfiguration>Flight GPS</activeConfiguration>
-              </gadget>
-              <type>uavGadget</type>
-            </side1>
-            <splitterOrientation>2</splitterOrientation>
-            <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAcAAAAAIAAAHo)</splitterSizes>
-            <type>splitter</type>
+            <classId>LoggingGadget</classId>
+            <type>uavGadget</type>
           </side0>
           <side1>
-            <classId>DebugGadget</classId>
+            <classId>GpsDisplayGadget</classId>
+            <gadget>
+              <activeConfiguration>Flight GPS</activeConfiguration>
+            </gadget>
             <type>uavGadget</type>
           </side1>
           <splitterOrientation>2</splitterOrientation>
-          <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAB3wAAAAIAAAEp)</splitterSizes>
+          <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAVAAAAAIAAAGu)</splitterSizes>
           <type>splitter</type>
         </side1>
         <splitterOrientation>1</splitterOrientation>

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

@@ -8,6 +8,7 @@
     <SaveSettingsOnExit>true</SaveSettingsOnExit>
     <SettingsWindowHeight>700</SettingsWindowHeight>
     <SettingsWindowWidth>800</SettingsWindowWidth>
+    <OverrideLanguage>C</OverrideLanguage>
     <UDPMirror>false</UDPMirror>
     <Description>Wide configuration</Description>
     <Details>Default configuration built for wide screens (17"up)</Details>
@@ -2505,22 +2506,6 @@
         </data>
       </default>
     </UAVObjectBrowser>
-    <Uploader>
-      <default>
-        <configInfo>
-          <locked>false</locked>
-          <version>0.0.0</version>
-        </configInfo>
-        <data>
-          <defaultDataBits>3</defaultDataBits>
-          <defaultFlow>0</defaultFlow>
-          <defaultParity>0</defaultParity>
-          <defaultPort>/dev/ttyS0</defaultPort>
-          <defaultSpeed>14</defaultSpeed>
-          <defaultStopBits>0</defaultStopBits>
-        </data>
-      </default>
-    </Uploader>
     <configInfo>
       <locked>false</locked>
       <version>1.2.0</version>
@@ -2645,27 +2630,18 @@
         </side0>
         <side1>
           <side0>
-            <side0>
-              <classId>LoggingGadget</classId>
-              <type>uavGadget</type>
-            </side0>
-            <side1>
-              <classId>GpsDisplayGadget</classId>
-              <gadget>
-                <activeConfiguration>Flight GPS</activeConfiguration>
-              </gadget>
-              <type>uavGadget</type>
-            </side1>
-            <splitterOrientation>2</splitterOrientation>
-            <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAcAAAAAIAAAHo)</splitterSizes>
-            <type>splitter</type>
+            <classId>LoggingGadget</classId>
+            <type>uavGadget</type>
           </side0>
           <side1>
-            <classId>DebugGadget</classId>
+            <classId>GpsDisplayGadget</classId>
+            <gadget>
+              <activeConfiguration>Flight GPS</activeConfiguration>
+            </gadget>
             <type>uavGadget</type>
           </side1>
           <splitterOrientation>2</splitterOrientation>
-          <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAB3wAAAAIAAAEp)</splitterSizes>
+          <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAVAAAAAIAAAGu)</splitterSizes>
           <type>splitter</type>
         </side1>
         <splitterOrientation>1</splitterOrientation>

ground/openpilotgcs/src/app/app.pro

@@ -1,11 +1,13 @@
 include(../../openpilotgcs.pri)
 include(../shared/qtsingleapplication/qtsingleapplication.pri)
+include(gcsversioninfo.pri)
 
 TEMPLATE = app
 TARGET = $$GCS_APP_TARGET
 DESTDIR = $$GCS_APP_PATH
 QT += xml
-SOURCES += main.cpp
+SOURCES += main.cpp \
+    gcssplashscreen.cpp
 include(../rpath.pri)
 include(../libs/utils/utils.pri)
 
@@ -28,3 +30,9 @@ win32 {
 }
 
 OTHER_FILES += openpilotgcs.rc
+
+RESOURCES += \
+    appresources.qrc
+
+HEADERS += \
+    gcssplashscreen.h

ground/openpilotgcs/src/app/appresources.qrc

@@ -0,0 +1,5 @@
+<RCC>
+    <qresource prefix="/app">
+        <file>splash.png</file>
+    </qresource>
+</RCC>

ground/openpilotgcs/src/app/gcssplashscreen.cpp

@@ -0,0 +1,85 @@
+/**
+ ******************************************************************************
+ *
+ * @file       gcssplashscreen.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup [Group]
+ * @{
+ * @addtogroup GCSSplashScreen
+ * @{
+ * @brief [Brief]
+ *****************************************************************************/
+/*
+ * 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 "gcssplashscreen.h"
+#include <QDebug>
+
+const QChar CopyrightSymbol(0x00a9);
+
+GCSSplashScreen::GCSSplashScreen() :
+    QSplashScreen(), m_pixmap(0), m_painter(0)
+{
+    QString revision;
+    QString year;
+#ifdef GCS_REVISION
+    revision = GCS_REVISION;
+#else
+    revision = tr("N/A");
+#endif
+
+#ifdef GCS_YEAR
+    year = GCS_YEAR;
+#else
+    year = "2013";
+#endif
+
+    setWindowFlags(windowFlags());
+    m_pixmap = new QPixmap(":/app/splash.png");
+
+    m_painter = new QPainter(m_pixmap);
+    m_painter->setPen(Qt::lightGray);
+    QFont font("Tahoma", 8);
+    m_painter->setFont(font);
+    m_painter->drawText(405, 170, QString(CopyrightSymbol) +
+                        QString(" 2010-") + year +
+                        QString(tr(" The OpenPilot Project - All Rights Reserved")));
+
+    m_painter->drawText(406, 173, 310, 100, Qt::TextWordWrap|Qt::AlignTop|Qt::AlignLeft,
+                        QString(tr("GCS Revision - ")) + revision);
+    setPixmap(*m_pixmap);
+}
+
+GCSSplashScreen::~GCSSplashScreen()
+{
+}
+
+void GCSSplashScreen::drawMessageText(const QString &message)
+{
+    QPixmap pix(*m_pixmap);
+    QPainter progressPainter(&pix);
+    progressPainter.setPen(Qt::lightGray);
+    QFont font("Tahoma", 13);
+    progressPainter.setFont(font);
+    progressPainter.drawText(170, 385, message);
+    setPixmap(pix);
+}
+
+void GCSSplashScreen::showPluginLoadingProgress(ExtensionSystem::PluginSpec *pluginSpec)
+{    
+    QString message(tr("Loading ") + pluginSpec->name() + " plugin...");
+    drawMessageText(message);
+}

ground/openpilotgcs/src/app/gcssplashscreen.h

@@ -1,49 +1,56 @@
-/**
- ******************************************************************************
- * @file       waypointeditorgadgetfactory.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @addtogroup Waypoint Editor GCS Plugins
- * @{
- * @addtogroup WaypointEditorGadgetPlugin Waypoint Editor Gadget Plugin
- * @{
- * @brief A gadget to edit a list of waypoints
- *****************************************************************************/
-/*
- * 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 WaypointEditorGADGETFACTORY_H_
-#define WaypointEditorGADGETFACTORY_H_
-
-#include <coreplugin/iuavgadgetfactory.h>
-
-namespace Core {
-class IUAVGadget;
-class IUAVGadgetFactory;
-}
-
-using namespace Core;
-
-class WaypointEditorGadgetFactory : public IUAVGadgetFactory
-{
-    Q_OBJECT
-public:
-    WaypointEditorGadgetFactory(QObject *parent = 0);
-    ~WaypointEditorGadgetFactory();
-
-    IUAVGadget *createGadget(QWidget *parent);
-};
-
-#endif // WaypointEditorGADGETFACTORY_H_
+/**
+ ******************************************************************************
+ *
+ * @file       gcssplashscreen.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup [Group]
+ * @{
+ * @addtogroup GCSSplashScreen
+ * @{
+ * @brief [Brief]
+ *****************************************************************************/
+/*
+ * 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 GCSSPLASHSCREEN_H
+#define GCSSPLASHSCREEN_H
+
+#include <QSplashScreen>
+#include <QPixmap>
+#include <QPainter>
+#include <extensionsystem/pluginspec.h>
+
+#include "../../../../build/ground/openpilotgcs/gcsversioninfo.h"
+
+class GCSSplashScreen : public QSplashScreen
+{
+    Q_OBJECT
+public:
+    explicit GCSSplashScreen();
+    ~GCSSplashScreen();
+    
+public slots:
+    void showPluginLoadingProgress(ExtensionSystem::PluginSpec *pluginSpec);
+    void showProgressMessage(const QString &message) { drawMessageText(message); }
+
+private:
+    QPixmap *m_pixmap;
+    QPainter *m_painter;
+    void drawMessageText(const QString &message);
+
+};
+
+#endif // GCSSPLASHSCREEN_H

ground/openpilotgcs/src/app/main.cpp

@@ -28,6 +28,7 @@
 
 #include "qtsingleapplication.h"
 #include "utils/xmlconfig.h"
+#include "gcssplashscreen.h"
 
 #include <extensionsystem/pluginmanager.h>
 #include <extensionsystem/pluginspec.h>
@@ -46,6 +47,8 @@
 #include <QtGui/QMessageBox>
 #include <QtGui/QApplication>
 #include <QtGui/QMainWindow>
+#include <QtGui/QSplashScreen>
+#include <QtGui/QPainter>
 
 enum { OptionIndent = 4, DescriptionIndent = 24 };
 
@@ -241,10 +244,17 @@ int main(int argc, char **argv)
 #ifdef Q_OS_LINUX
     QApplication::setAttribute(Qt::AA_X11InitThreads, true);
 #endif
-    QApplication::setGraphicsSystem("raster");
+
+    //Set the default locale to EN, if this is not set the system locale will be used
+    //and as of now we dont want that behaviour.
+    QLocale::setDefault(QLocale::English);
 
     SharedTools::QtSingleApplication app((QLatin1String(appNameC)), argc, argv);
 
+    //Open Splashscreen
+    GCSSplashScreen splash;
+    splash.show();
+
     QString locale = QLocale::system().name();
 
     // Must be done before any QSettings class is created
@@ -275,6 +285,8 @@ int main(int argc, char **argv)
     }
     app.setProperty("qtc_locale", locale); // Do we need this?
 
+    splash.showProgressMessage(QObject::tr("Application starting..."));
+
     // Load
     ExtensionSystem::PluginManager pluginManager;
     pluginManager.setFileExtension(QLatin1String("pluginspec"));
@@ -314,7 +326,7 @@ int main(int argc, char **argv)
             break;
         }
     }
-    if (!coreplugin) {
+    if(!coreplugin){
         QString nativePaths = QDir::toNativeSeparators(pluginPaths.join(QLatin1String(",")));
         const QString reason = QCoreApplication::translate("Application", "Could not find 'Core.pluginspec' in %1").arg(nativePaths);
         displayError(msgCoreLoadFailure(reason));
@@ -342,11 +354,16 @@ int main(int argc, char **argv)
     if (!isFirstInstance && foundAppOptions.contains(QLatin1String(CLIENT_OPTION)))
         return sendArguments(app, pluginManager.arguments()) ? 0 : -1;
 
+    QObject::connect(&pluginManager, SIGNAL(pluginAboutToBeLoaded(ExtensionSystem::PluginSpec*)),
+                     &splash, SLOT(showPluginLoadingProgress(ExtensionSystem::PluginSpec*)));
+
     pluginManager.loadPlugins();
+
     if (coreplugin->hasError()) {
         displayError(msgCoreLoadFailure(coreplugin->errorString()));
         return 1;
     }
+
     {
         QStringList errors;
         foreach (ExtensionSystem::PluginSpec *p, pluginManager.plugins())
@@ -369,5 +386,10 @@ int main(int argc, char **argv)
 
     // Do this after the event loop has started
     QTimer::singleShot(100, &pluginManager, SLOT(startTests()));
+
+    //Update message and postpone closing of splashscreen 3 seconds
+    splash.showProgressMessage(QObject::tr("Application started."));
+    QTimer::singleShot(1500, &splash, SLOT(close()));
+
     return app.exec();
 }

ground/openpilotgcs/src/libs/extensionsystem/pluginmanager.cpp

@@ -583,7 +583,9 @@ void PluginManagerPrivate::loadPlugins()
     QListIterator<PluginSpec *> it(queue);
     it.toBack();
     while (it.hasPrevious()) {
-        loadPlugin(it.previous(), PluginSpec::Running);
+        PluginSpec* plugin = it.previous();
+        emit q->pluginAboutToBeLoaded(plugin);
+        loadPlugin(plugin, PluginSpec::Running);
     }
     emit q->pluginsChanged();
     q->m_allPluginsLoaded=true;

ground/openpilotgcs/src/libs/extensionsystem/pluginmanager.h

@@ -114,6 +114,7 @@ signals:
     void objectAdded(QObject *obj);
     void aboutToRemoveObject(QObject *obj);
 
+    void pluginAboutToBeLoaded(ExtensionSystem::PluginSpec* pluginSpec);
     void pluginsChanged();
     void pluginsLoadEnded();
 private slots:

ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/uavitem.cpp

@@ -150,6 +150,7 @@ namespace mapcontrol
         QString uavoInfoStrLine3, uavoInfoStrLine4;
         QString uavoInfoStrLine5;
 
+		uavoInfoStrLine1.append(QString("CAS: %1 kph").arg(CAS_mps * 3.6));
         uavoInfoStrLine2.append(QString("Groundspeed: %1 kph").arg(groundspeed_kph, 0, 'f',1));
         uavoInfoStrLine3.append(QString("Lat-Lon: %1, %2").arg(coord.Lat(), 0, 'f',7).arg(coord.Lng(), 0, 'f',7));
         uavoInfoStrLine4.append(QString("North-East: %1 m, %2 m").arg(NED[0], 0, 'f',1).arg(NED[1], 0, 'f',1));

ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointitem.cpp

@@ -229,7 +229,6 @@ WayPointItem::WayPointItem(MapGraphicItem *map, bool magicwaypoint):reached(fals
     }
     void WayPointItem::mouseReleaseEvent(QGraphicsSceneMouseEvent *event)
     {
-        QGraphicsItem::mouseReleaseEvent(event);
         if(event->button()==Qt::LeftButton)
         {
             if(text)
@@ -242,15 +241,14 @@ WayPointItem::WayPointItem(MapGraphicItem *map, bool magicwaypoint):reached(fals
                 delete textBG;
                 textBG=NULL;
             }
-            coord=map->FromLocalToLatLng(this->pos().x(),this->pos().y());
 
             isDragging=false;
             RefreshToolTip();
             emit manualCoordChange(this);
             emit localPositionChanged(this->pos(),this);
             emit WPValuesChanged(this);
-            emit WPDropped(this);
         }
+		QGraphicsItem::mouseReleaseEvent(event);
     }
     void WayPointItem::mouseMoveEvent(QGraphicsSceneMouseEvent *event)
     {

ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointitem.h

@@ -234,13 +234,6 @@ signals:
     * @param waypoint a pointer to this WayPoint
     */
 
-    /**
-    * @brief Fired when the waypoint is dropped somewhere
-    *
-    * @param waypoint a pointer to this WayPoint
-    */
-    void WPDropped(WayPointItem* waypoint);
-
     void WPValuesChanged(WayPointItem* waypoint);
     void waypointdoubleclick(WayPointItem* waypoint);
     void localPositionChanged(QPointF point,WayPointItem* waypoint);

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

@@ -1498,7 +1498,7 @@ font: bold 12px;
 margin:1px;</string>
                     </property>
                     <property name="text">
-                     <string>Tricopter Yaw Motor channel</string>
+                     <string>Tricopter Yaw Servo channel</string>
                     </property>
                     <property name="alignment">
                      <set>Qt::AlignCenter</set>

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

@@ -51,9 +51,10 @@
           <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
 &lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:20pt; font-weight:600; color:#ff0000;&quot;&gt;WARNING:&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;&lt;br /&gt;&lt;/span&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;&lt;br /&gt;&lt;/span&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;This is an experimental plugin for the GCS that is going to make your aircraft shake, etc, so test with lots of space and be &lt;/span&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt; font-weight:600;&quot;&gt;very very wary&lt;/span&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt; for it creating bad tuning values.  Basically there is no reason to think this will work at all.&lt;br /&gt;&lt;br /&gt;To use autotuning, here are the steps:&lt;br /&gt;&lt;/span&gt;&lt;/p&gt;
 &lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;On the &lt;span style=&quot; font-style:italic;&quot;&gt;Input configuration&lt;/span&gt; tab, &lt;span style=&quot; font-style:italic;&quot;&gt;Flight Mode Switch Settings&lt;/span&gt;, set one of your flight modes to &amp;quot;Autotune&amp;quot;.&lt;br /&gt;&lt;/li&gt;
@@ -70,7 +71,7 @@ p, li { white-space: pre-wrap; }
          <property name="title">
           <string>Module Control</string>
          </property>
-         <layout class="QHBoxLayout" name="horizontalLayout_3">
+         <layout class="QVBoxLayout" name="verticalLayout_4">
           <item>
            <widget class="QCheckBox" name="enableAutoTune">
             <property name="text">
@@ -82,24 +83,13 @@ p, li { white-space: pre-wrap; }
            </widget>
           </item>
           <item>
-           <spacer name="horizontalSpacer_5">
-            <property name="orientation">
-             <enum>Qt::Horizontal</enum>
+           <widget class="QLabel" name="label_13">
+            <property name="text">
+             <string>After enabling the module, you must power cycle before using and configuring.</string>
             </property>
-            <property name="sizeHint" stdset="0">
-             <size>
-              <width>454</width>
-              <height>20</height>
-             </size>
-            </property>
-           </spacer>
+           </widget>
           </item>
          </layout>
-         <zorder>horizontalSpacer_5</zorder>
-         <zorder>enableAutoTune</zorder>
-         <zorder>horizontalSpacer_4</zorder>
-         <zorder>enableAutoTune</zorder>
-         <zorder>horizontalSpacer_5</zorder>
         </widget>
        </item>
       </layout>
@@ -192,8 +182,8 @@ p, li { white-space: pre-wrap; }
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>711</width>
-            <height>596</height>
+            <width>709</width>
+            <height>605</height>
            </rect>
           </property>
           <property name="sizePolicy">

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

@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>786</width>
-    <height>566</height>
+    <height>791</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -64,8 +64,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>741</width>
-            <height>559</height>
+            <width>762</width>
+            <height>658</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout">
@@ -130,7 +130,7 @@
              <property name="minimumSize">
               <size>
                <width>0</width>
-               <height>130</height>
+               <height>110</height>
               </size>
              </property>
              <property name="maximumSize">
@@ -285,7 +285,7 @@ have to define channel output range using Output configuration tab.</string>
               <item row="2" column="0">
                <widget class="QLabel" name="label_43">
                 <property name="text">
-                 <string>Output Range</string>
+                 <string>Output Range (Angle)</string>
                 </property>
                </widget>
               </item>
@@ -390,7 +390,7 @@ margin:1px;</string>
              <property name="minimumSize">
               <size>
                <width>0</width>
-               <height>250</height>
+               <height>187</height>
               </size>
              </property>
              <property name="maximumSize">
@@ -403,9 +403,6 @@ margin:1px;</string>
               <string>Advanced Settings (Control)</string>
              </property>
              <layout class="QGridLayout" name="gridLayout_8">
-              <property name="verticalSpacing">
-               <number>6</number>
-              </property>
               <item row="0" column="3">
                <widget class="QLabel" name="label_32">
                 <property name="minimumSize">
@@ -653,34 +650,6 @@ AxisLock: camera remembers tracking attitude. Input controls the rate of deflect
                 </property>
                </widget>
               </item>
-              <item row="5" column="3">
-               <widget class="QSpinBox" name="yawResponseTime">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Input low-pass filter response time for yaw axis, ms.
-
-This option smoothes the stick input. Zero value disables LPF.</string>
-                </property>
-                <property name="maximum">
-                 <number>1000</number>
-                </property>
-                <property name="value">
-                 <number>150</number>
-                </property>
-                <property name="objrelation" stdset="0">
-                 <stringlist>
-                  <string>objname:CameraStabSettings</string>
-                  <string>fieldname:ResponseTime</string>
-                  <string>element:Yaw</string>
-                  <string>haslimits:no</string>
-                  <string>scale:1</string>
-                  <string>buttongroup:1</string>
-                 </stringlist>
-                </property>
-               </widget>
-              </item>
               <item row="2" column="2">
                <widget class="QComboBox" name="pitchStabilizationMode">
                 <property name="focusPolicy">
@@ -759,34 +728,6 @@ AxisLock: camera remembers tracking attitude. Input controls the rate of deflect
                 </property>
                </widget>
               </item>
-              <item row="5" column="2">
-               <widget class="QSpinBox" name="pitchResponseTime">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Input low-pass filter response time for pitch axis, ms.
-
-This option smoothes the stick input. Zero value disables LPF.</string>
-                </property>
-                <property name="maximum">
-                 <number>1000</number>
-                </property>
-                <property name="value">
-                 <number>150</number>
-                </property>
-                <property name="objrelation" stdset="0">
-                 <stringlist>
-                  <string>objname:CameraStabSettings</string>
-                  <string>fieldname:ResponseTime</string>
-                  <string>element:Pitch</string>
-                  <string>haslimits:no</string>
-                  <string>scale:1</string>
-                  <string>buttongroup:1</string>
-                 </stringlist>
-                </property>
-               </widget>
-              </item>
               <item row="2" column="1">
                <widget class="QComboBox" name="rollStabilizationMode">
                 <property name="focusPolicy">
@@ -865,59 +806,24 @@ AxisLock: camera remembers tracking attitude. Input controls the rate of deflect
                 </property>
                </widget>
               </item>
-              <item row="5" column="1">
-               <widget class="QSpinBox" name="rollResponseTime">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Input low-pass filter response time for roll axis, ms.
-
-This option smoothes the stick input. Zero value disables LPF.</string>
-                </property>
-                <property name="maximum">
-                 <number>1000</number>
-                </property>
-                <property name="value">
-                 <number>150</number>
-                </property>
-                <property name="objrelation" stdset="0">
-                 <stringlist>
-                  <string>objname:CameraStabSettings</string>
-                  <string>fieldname:ResponseTime</string>
-                  <string>element:Roll</string>
-                  <string>haslimits:no</string>
-                  <string>scale:1</string>
-                  <string>buttongroup:1</string>
-                 </stringlist>
-                </property>
-               </widget>
-              </item>
-              <item row="6" column="0">
+              <item row="5" column="0">
                <widget class="QLabel" name="label_36">
                 <property name="text">
                  <string>MaxAxisLockRate</string>
                 </property>
                </widget>
               </item>
-              <item row="5" column="0">
-               <widget class="QLabel" name="label_37">
-                <property name="text">
-                 <string>Response Time</string>
-                </property>
-               </widget>
-              </item>
               <item row="4" column="0">
                <widget class="QLabel" name="label_38">
                 <property name="text">
-                 <string>Input Rate</string>
+                 <string>Input Rate (Speed)</string>
                 </property>
                </widget>
               </item>
               <item row="3" column="0">
                <widget class="QLabel" name="label_39">
                 <property name="text">
-                 <string>Input Range</string>
+                 <string>Input Range (Angle)</string>
                 </property>
                </widget>
               </item>
@@ -928,14 +834,14 @@ This option smoothes the stick input. Zero value disables LPF.</string>
                 </property>
                </widget>
               </item>
-              <item row="6" column="2" colspan="2">
+              <item row="5" column="2" colspan="2">
                <widget class="QLabel" name="label_41">
                 <property name="text">
                  <string>(the same value for Roll, Pitch, Yaw)</string>
                 </property>
                </widget>
               </item>
-              <item row="6" column="1">
+              <item row="5" column="1">
                <widget class="QDoubleSpinBox" name="MaxAxisLockRate">
                 <property name="focusPolicy">
                  <enum>Qt::StrongFocus</enum>
@@ -974,30 +880,471 @@ value.</string>
             </widget>
            </item>
            <item>
-            <widget class="QGroupBox" name="groupBox_4">
+            <widget class="QGroupBox" name="groupBox_3">
              <property name="minimumSize">
               <size>
                <width>0</width>
-               <height>71</height>
-              </size>
-             </property>
-             <property name="maximumSize">
-              <size>
-               <width>16777215</width>
-               <height>16777215</height>
+               <height>187</height>
               </size>
              </property>
              <property name="title">
-              <string>Messages</string>
+              <string>Expert Settings (Attitude Filter and Feed Forward)</string>
              </property>
-             <layout class="QVBoxLayout" name="verticalLayout_3">
-              <item>
-               <widget class="QLabel" name="message">
-                <property name="autoFillBackground">
-                 <bool>false</bool>
+             <layout class="QGridLayout" name="gridLayout_2">
+              <item row="0" column="1">
+               <widget class="QLabel" name="label_49">
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>16777215</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
                 </property>
                 <property name="text">
-                 <string/>
+                 <string>Roll</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="2">
+               <widget class="QLabel" name="label_50">
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>16777215</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                </property>
+                <property name="text">
+                 <string>Pitch</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="3">
+               <widget class="QLabel" name="label_51">
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>16777215</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                </property>
+                <property name="text">
+                 <string>Yaw</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="0">
+               <widget class="QLabel" name="label_2">
+                <property name="text">
+                 <string>Attitude Filter RT</string>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="1">
+               <widget class="QSpinBox" name="rollResponseTime">
+                <property name="toolTip">
+                 <string>Roll axis attitude filter response time
+
+Range: 0-250ms, 0 disables the filter (default).
+
+Smoothes estimated airframe attitude used by camera stabilization.</string>
+                </property>
+                <property name="maximum">
+                 <number>250</number>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:ResponseTime</string>
+                  <string>element:Roll</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="2">
+               <widget class="QSpinBox" name="pitchResponseTime">
+                <property name="toolTip">
+                 <string>Pitch axis attitude filter response time
+
+Range: 0-250ms, 0 disables the filter (default).
+
+Smoothes estimated airframe attitude used by camera stabilization.</string>
+                </property>
+                <property name="maximum">
+                 <number>250</number>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:ResponseTime</string>
+                  <string>element:Pitch</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="3">
+               <widget class="QSpinBox" name="yawResponseTime">
+                <property name="toolTip">
+                 <string>Yaw axis attitude filter response time
+
+Range: 0-250ms, 0 disables the filter (default).
+
+Smoothes estimated airframe attitude used by camera stabilization.</string>
+                </property>
+                <property name="maximum">
+                 <number>250</number>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:ResponseTime</string>
+                  <string>element:Yaw</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="0">
+               <widget class="QLabel" name="label_4">
+                <property name="text">
+                 <string>FF Servo Acceleration</string>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="1">
+               <widget class="QSpinBox" name="rollFeedForward">
+                <property name="toolTip">
+                 <string>Roll servo feed forward acceleration
+
+Range: 0-25, 0 disables feed forward for the axis (default).
+
+Good starting value is 2-7.
+Too high value may burn your servo!</string>
+                </property>
+                <property name="maximum">
+                 <number>25</number>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:FeedForward</string>
+                  <string>element:Roll</string>
+                  <string>haslimits:no</string>
+                  <string>scale:1</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="2">
+               <widget class="QSpinBox" name="pitchFeedForward">
+                <property name="toolTip">
+                 <string>Pitch servo feed forward acceleration
+
+Range: 0-25, 0 disables feed forward for the axis (default).
+
+Good starting value is 2-7.
+Too high value may burn your servo!</string>
+                </property>
+                <property name="maximum">
+                 <number>25</number>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:FeedForward</string>
+                  <string>element:Pitch</string>
+                  <string>haslimits:no</string>
+                  <string>scale:1</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="3">
+               <widget class="QSpinBox" name="yawFeedForward">
+                <property name="toolTip">
+                 <string>Yaw servo feed forward acceleration
+
+Range: 0-25, 0 disables feed forward for the axis (default).
+
+Good starting value is 2-7.
+Too high value may burn your servo!</string>
+                </property>
+                <property name="maximum">
+                 <number>25</number>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:FeedForward</string>
+                  <string>element:Yaw</string>
+                  <string>haslimits:no</string>
+                  <string>scale:1</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="0">
+               <widget class="QLabel" name="label_48">
+                <property name="text">
+                 <string>FF Accel Time Constant</string>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="1">
+               <widget class="QSpinBox" name="rollAccelTime">
+                <property name="toolTip">
+                 <string>Roll servo feed forward acceleration time constant
+
+Range: 0-50ms, default is 5.</string>
+                </property>
+                <property name="maximum">
+                 <number>50</number>
+                </property>
+                <property name="value">
+                 <number>5</number>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:AccelTime</string>
+                  <string>element:Roll</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="2">
+               <widget class="QSpinBox" name="pitchAccelTime">
+                <property name="toolTip">
+                 <string>Pitch servo feed forward acceleration time constant
+
+Range: 0-50ms, default is 5.</string>
+                </property>
+                <property name="maximum">
+                 <number>50</number>
+                </property>
+                <property name="value">
+                 <number>5</number>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:AccelTime</string>
+                  <string>element:Pitch</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="3">
+               <widget class="QSpinBox" name="yawAccelTime">
+                <property name="toolTip">
+                 <string>Yaw servo feed forward acceleration time constant
+
+Range: 0-50ms, default is 5.</string>
+                </property>
+                <property name="maximum">
+                 <number>50</number>
+                </property>
+                <property name="value">
+                 <number>5</number>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:AccelTime</string>
+                  <string>element:Yaw</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="4" column="0">
+               <widget class="QLabel" name="label_5">
+                <property name="text">
+                 <string>FF Decel Time Constant</string>
+                </property>
+               </widget>
+              </item>
+              <item row="4" column="1">
+               <widget class="QSpinBox" name="rollDecelTime">
+                <property name="toolTip">
+                 <string>Roll servo feed forward deceleration time constant
+
+Range: 0-50ms, default is 5.</string>
+                </property>
+                <property name="maximum">
+                 <number>50</number>
+                </property>
+                <property name="value">
+                 <number>5</number>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:DecelTime</string>
+                  <string>element:Roll</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="4" column="2">
+               <widget class="QSpinBox" name="pitchDecelTime">
+                <property name="toolTip">
+                 <string>Pitch servo feed forward deceleration time constant
+
+Range: 0-50ms, default is 5.</string>
+                </property>
+                <property name="maximum">
+                 <number>50</number>
+                </property>
+                <property name="value">
+                 <number>5</number>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:DecelTime</string>
+                  <string>element:Pitch</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="4" column="3">
+               <widget class="QSpinBox" name="yawDecelTime">
+                <property name="toolTip">
+                 <string>Yaw servo feed forward deceleration time constant
+
+Range: 0-50ms, default is 5.</string>
+                </property>
+                <property name="maximum">
+                 <number>50</number>
+                </property>
+                <property name="value">
+                 <number>5</number>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:DecelTime</string>
+                  <string>element:Yaw</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="5" column="0">
+               <widget class="QLabel" name="label_47">
+                <property name="text">
+                 <string>Gimbal Type:</string>
+                </property>
+               </widget>
+              </item>
+              <item row="5" column="1">
+               <widget class="QComboBox" name="gimbalType">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Gimbal type
+
+Used to limit feed forward acceleration at extreme angles.
+Generic type provides no limit.</string>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:GimbalType</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+                <item>
+                 <property name="text">
+                  <string>Yaw-Roll-Pitch</string>
+                 </property>
+                </item>
+               </widget>
+              </item>
+              <item row="5" column="2">
+               <widget class="QLabel" name="label_6">
+                <property name="text">
+                 <string>FF Max Acceleration</string>
+                </property>
+               </widget>
+              </item>
+              <item row="5" column="3">
+               <widget class="QSpinBox" name="maxAccel">
+                <property name="toolTip">
+                 <string>Feed forward maximum acceleration
+
+Range: 0-1000, default is 500.
+
+The same value is used for all axes.</string>
+                </property>
+                <property name="maximum">
+                 <number>1000</number>
+                </property>
+                <property name="value">
+                 <number>500</number>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:MaxAccel</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
                 </property>
                </widget>
               </item>
@@ -1005,13 +1352,17 @@ value.</string>
             </widget>
            </item>
            <item>
-            <spacer name="verticalSpacer_2">
+            <widget class="QLabel" name="label">
+             <property name="text">
+              <string>Input configuration also provides smoothing for controls. Look for RT options on the RC Input tab.</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <spacer name="verticalSpacer">
              <property name="orientation">
               <enum>Qt::Vertical</enum>
              </property>
-             <property name="sizeType">
-              <enum>QSizePolicy::Expanding</enum>
-             </property>
              <property name="sizeHint" stdset="0">
               <size>
                <width>20</width>
@@ -1028,6 +1379,37 @@ value.</string>
      </widget>
     </widget>
    </item>
+   <item>
+    <widget class="QGroupBox" name="groupBox_4">
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>50</height>
+      </size>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>16777215</width>
+       <height>16777215</height>
+      </size>
+     </property>
+     <property name="title">
+      <string>Messages</string>
+     </property>
+     <layout class="QVBoxLayout" name="verticalLayout_3">
+      <item>
+       <widget class="QLabel" name="message">
+        <property name="autoFillBackground">
+         <bool>false</bool>
+        </property>
+        <property name="text">
+         <string/>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
    <item>
     <layout class="QGridLayout" name="gridLayout">
      <property name="horizontalSpacing">
@@ -1221,7 +1603,44 @@ Apply or Save button afterwards.</string>
   </layout>
  </widget>
  <tabstops>
-  <tabstop>scrollArea</tabstop>
+  <tabstop>enableCameraStabilization</tabstop>
+  <tabstop>rollChannel</tabstop>
+  <tabstop>pitchChannel</tabstop>
+  <tabstop>yawChannel</tabstop>
+  <tabstop>rollOutputRange</tabstop>
+  <tabstop>pitchOutputRange</tabstop>
+  <tabstop>yawOutputRange</tabstop>
+  <tabstop>rollInputChannel</tabstop>
+  <tabstop>pitchInputChannel</tabstop>
+  <tabstop>yawInputChannel</tabstop>
+  <tabstop>rollStabilizationMode</tabstop>
+  <tabstop>pitchStabilizationMode</tabstop>
+  <tabstop>yawStabilizationMode</tabstop>
+  <tabstop>rollInputRange</tabstop>
+  <tabstop>pitchInputRange</tabstop>
+  <tabstop>yawInputRange</tabstop>
+  <tabstop>rollInputRate</tabstop>
+  <tabstop>pitchInputRate</tabstop>
+  <tabstop>yawInputRate</tabstop>
+  <tabstop>MaxAxisLockRate</tabstop>
+  <tabstop>rollResponseTime</tabstop>
+  <tabstop>pitchResponseTime</tabstop>
+  <tabstop>yawResponseTime</tabstop>
+  <tabstop>rollFeedForward</tabstop>
+  <tabstop>pitchFeedForward</tabstop>
+  <tabstop>yawFeedForward</tabstop>
+  <tabstop>rollAccelTime</tabstop>
+  <tabstop>pitchAccelTime</tabstop>
+  <tabstop>yawAccelTime</tabstop>
+  <tabstop>rollDecelTime</tabstop>
+  <tabstop>pitchDecelTime</tabstop>
+  <tabstop>yawDecelTime</tabstop>
+  <tabstop>gimbalType</tabstop>
+  <tabstop>maxAccel</tabstop>
+  <tabstop>camerastabilizationResetToDefaults</tabstop>
+  <tabstop>pushButton</tabstop>
+  <tabstop>camerastabilizationSaveRAM</tabstop>
+  <tabstop>camerastabilizationSaveSD</tabstop>
  </tabstops>
  <resources>
   <include location="../coreplugin/core.qrc"/>

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

@@ -111,7 +111,7 @@
             <x>0</x>
             <y>0</y>
             <width>750</width>
-            <height>466</height>
+            <height>483</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout">
@@ -391,6 +391,86 @@ arming it in that case!</string>
                   </property>
                  </spacer>
                 </item>
+                <item>
+                 <layout class="QHBoxLayout" name="horizontalLayout_4">
+                  <item>
+                   <widget class="QLabel" name="label_5">
+                    <property name="minimumSize">
+                     <size>
+                      <width>0</width>
+                      <height>0</height>
+                     </size>
+                    </property>
+                    <property name="toolTip">
+                     <string/>
+                    </property>
+                    <property name="text">
+                     <string>AccelTau</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <spacer name="horizontalSpacer_12">
+                    <property name="orientation">
+                     <enum>Qt::Horizontal</enum>
+                    </property>
+                    <property name="sizeType">
+                     <enum>QSizePolicy::Fixed</enum>
+                    </property>
+                    <property name="sizeHint" stdset="0">
+                     <size>
+                      <width>10</width>
+                      <height>0</height>
+                     </size>
+                    </property>
+                   </spacer>
+                  </item>
+                  <item>
+                   <widget class="QDoubleSpinBox" name="accelTauSpinbox">
+                    <property name="minimumSize">
+                     <size>
+                      <width>60</width>
+                      <height>0</height>
+                     </size>
+                    </property>
+                    <property name="toolTip">
+                     <string>Accelerometer filtering.
+
+Sets the amount of lowpass filtering of accelerometer data 
+for the attitude estimation. Higher values apply a stronger 
+filter, which may help with drifting in attitude mode.
+
+Range: 0.00 - 0.20, Good starting value: 0.05 - 0.10
+Start low and raise until drift stops.
+
+A setting of 0.00 disables the filter.</string>
+                    </property>
+                    <property name="decimals">
+                     <number>2</number>
+                    </property>
+                    <property name="maximum">
+                     <double>0.200000000000000</double>
+                    </property>
+                    <property name="singleStep">
+                     <double>0.010000000000000</double>
+                    </property>
+                   </widget>
+                  </item>
+                 </layout>
+                </item>
+                <item>
+                 <spacer name="horizontalSpacer_11">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
                </layout>
               </item>
              </layout>

ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp

@@ -281,6 +281,7 @@ bool ConfigFixedWingWidget::setupFrameFixedWing(QString airframeType)
 	
     UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
     Q_ASSERT(mixer);
+    resetMotorAndServoMixers(mixer);
 
     // ... and compute the matrix:
     // In order to make code a bit nicer, we assume:
@@ -288,16 +289,8 @@ bool ConfigFixedWingWidget::setupFrameFixedWing(QString airframeType)
 
     // 1. Assign the servo/motor/none for each channel
 
-    int channel;
-    //disable all
-    for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++)
-    {
-        setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
-        resetMixerVector(mixer, channel);
-    }
-
     //motor
-    channel = m_aircraft->fwEngineChannelBox->currentIndex()-1;
+    int channel = m_aircraft->fwEngineChannelBox->currentIndex()-1;
     setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_MOTOR);
     setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
 
@@ -359,6 +352,7 @@ bool ConfigFixedWingWidget::setupFrameElevon(QString airframeType)
 	    
     UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
     Q_ASSERT(mixer);
+    resetMotorAndServoMixers(mixer);
 
     // Save the curve:
     // ... and compute the matrix:
@@ -367,17 +361,10 @@ bool ConfigFixedWingWidget::setupFrameElevon(QString airframeType)
 
     // 1. Assign the servo/motor/none for each channel
 
-    int channel;
     double value;
-    //disable all
-    for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++)
-    {
-        setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
-        resetMixerVector(mixer, channel);
-    }
 
     //motor
-    channel = m_aircraft->fwEngineChannelBox->currentIndex()-1;
+    int channel = m_aircraft->fwEngineChannelBox->currentIndex()-1;
     setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_MOTOR);
     setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
 
@@ -437,6 +424,7 @@ bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
 	    
     UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
     Q_ASSERT(mixer);
+    resetMotorAndServoMixers(mixer);
 
     // Save the curve:
     // ... and compute the matrix:
@@ -445,17 +433,10 @@ bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
 
     // 1. Assign the servo/motor/none for each channel
 
-    int channel;
     double value;
-    //disable all
-    for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++)
-    {
-        setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
-        resetMixerVector(mixer, channel);
-    }
 
     //motor
-    channel = m_aircraft->fwEngineChannelBox->currentIndex()-1;
+    int channel = m_aircraft->fwEngineChannelBox->currentIndex()-1;
     setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_MOTOR);
     setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
 

ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp

@@ -295,16 +295,10 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleMotorcycle(QString airframeTyp
 	
     UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
     Q_ASSERT(mixer);
-
-    int channel;
-    //disable all
-    for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++) {
-        setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
-        resetMixerVector(mixer, channel);
-    }
+    resetMotorAndServoMixers(mixer);
 
     //motor
-    channel = m_aircraft->gvMotor2ChannelBox->currentIndex()-1;
+    int channel = m_aircraft->gvMotor2ChannelBox->currentIndex()-1;
     setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
     setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
     setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 127);
@@ -352,16 +346,10 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleDifferential(QString airframeT
 	
     UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
     Q_ASSERT(mixer);
-
-    int channel;
-    //disable all
-    for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++) {
-        setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
-        resetMixerVector(mixer, channel);
-    }
+    resetMotorAndServoMixers(mixer);
 
     //left motor
-    channel = m_aircraft->gvMotor1ChannelBox->currentIndex()-1;
+    int channel = m_aircraft->gvMotor1ChannelBox->currentIndex()-1;
     setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
     setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
     setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 127);
@@ -407,15 +395,9 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleCar(QString airframeType)
 
     UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
     Q_ASSERT(mixer);
+    resetMotorAndServoMixers(mixer);
 
-    int channel;
-    //disable all
-    for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++) {
-        setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
-        resetMixerVector(mixer, channel);
-    }
-
-    channel = m_aircraft->gvSteering1ChannelBox->currentIndex()-1;
+    int channel = m_aircraft->gvSteering1ChannelBox->currentIndex()-1;
     setMixerType(mixer,channel, VehicleConfig::MIXERTYPE_SERVO);
     setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 127);
 

ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp

@@ -1032,13 +1032,7 @@ bool ConfigMultiRotorWidget::setupMultiRotorMixer(double mixerFactors[8][3])
 
     UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
     Q_ASSERT(mixer);
-
-    //disable all
-    for (int channel=0; channel<(int)VehicleConfig::CHANNEL_NUMELEM; channel++)
-    {
-        setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
-        resetMixerVector(mixer, channel);
-    }
+    resetMotorAndServoMixers(mixer);
 
     // and enable only the relevant channels:
     double pFactor = (double)m_aircraft->mrPitchMixLevel->value()/100;

ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp

@@ -181,6 +181,18 @@ void VehicleConfig::resetMixerVector(UAVDataObject* mixer, int channel)
     }
 }
 
+// Disable all servo/motor mixers (but keep camera and accessory ones)
+void VehicleConfig::resetMotorAndServoMixers(UAVDataObject *mixer)
+{
+    for (int channel = 0; channel < (int)VehicleConfig::CHANNEL_NUMELEM; channel++) {
+        QString type = getMixerType(mixer, channel);
+        if ((type == "Disabled") || (type == "Motor") || (type == "Servo")) {
+            setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_DISABLED);
+            resetMixerVector(mixer, channel);
+        }
+    }
+}
+
 double VehicleConfig::getMixerVectorValue(UAVDataObject* mixer, int channel, MixerVectorElem elementName)
 {
     Q_ASSERT(mixer);

ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h

@@ -127,6 +127,7 @@ class VehicleConfig: public ConfigTaskWidget
         double  getMixerVectorValue(UAVDataObject* mixer, int channel, MixerVectorElem elementName);
         void    setMixerVectorValue(UAVDataObject* mixer, int channel, MixerVectorElem elementName, double value);
         void    resetMixerVector(UAVDataObject* mixer, int channel);
+        void    resetMotorAndServoMixers(UAVDataObject* mixer);
         QString getMixerType(UAVDataObject* mixer, int channel);
         void    setMixerType(UAVDataObject* mixer, int channel, MixerTypeElem mixerType);
         double  getMixerValue(UAVDataObject* mixer, QString elementName);

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

@@ -56,7 +56,9 @@ ConfigCCAttitudeWidget::ConfigCCAttitudeWidget(QWidget *parent) :
 
     // Connect the help button
     connect(ui->ccAttitudeHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
+
     addUAVObjectToWidgetRelation("AttitudeSettings","ZeroDuringArming",ui->zeroGyroBiasOnArming);
+    addUAVObjectToWidgetRelation("AttitudeSettings", "AccelTau", ui->accelTauSpinbox);
 
     addUAVObjectToWidgetRelation("AttitudeSettings","BoardRotation",ui->rollBias,AttitudeSettings::BOARDROTATION_ROLL);
     addUAVObjectToWidgetRelation("AttitudeSettings","BoardRotation",ui->pitchBias,AttitudeSettings::BOARDROTATION_PITCH);
@@ -73,8 +75,8 @@ ConfigCCAttitudeWidget::~ConfigCCAttitudeWidget()
 void ConfigCCAttitudeWidget::sensorsUpdated(UAVObject * obj) {
 
     if (!timer.isActive()) { 
-	// ignore updates that come in after the timer has expired	
-	return; 
+        // ignore updates that come in after the timer has expired
+        return;
     }
 
     Accels * accels = Accels::GetInstance(getObjectManager());
@@ -207,16 +209,27 @@ void ConfigCCAttitudeWidget::openHelp()
     QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/x/44Cf", QUrl::StrictMode) );
 }
 
+void ConfigCCAttitudeWidget::setAccelFiltering(bool active)
+{
+    setDirty(true);
+}
+
 void ConfigCCAttitudeWidget::enableControls(bool enable)
 {
-    if(ui->zeroBias)
+    if(ui->zeroBias) {
         ui->zeroBias->setEnabled(enable);
+    }
+    if(ui->zeroGyroBiasOnArming) {
+        ui->zeroGyroBiasOnArming->setEnabled(enable);
+    }
+    if(ui->accelTauSpinbox) {
+        ui->accelTauSpinbox->setEnabled(enable);
+    }
     ConfigTaskWidget::enableControls(enable);
 }
 
 void ConfigCCAttitudeWidget::updateObjectsFromWidgets()
 {
     ConfigTaskWidget::updateObjectsFromWidgets();
-
     ui->zeroBiasProgress->setValue(0);
 }

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

@@ -52,6 +52,7 @@ private slots:
     void timeout();
     void startAccelCalibration();
     void openHelp();
+    void setAccelFiltering(bool active);
 
 private:
     Ui_ccattitude *ui;
@@ -65,6 +66,7 @@ private:
     QList<double> x_accum, y_accum, z_accum;
     QList<double> x_gyro_accum, y_gyro_accum, z_gyro_accum;
 
+    static const float DEFAULT_ENABLED_ACCEL_TAU = 0.1;
     static const int NUM_SENSOR_UPDATES = 300;
     static const float ACCEL_SCALE = 0.004f * 9.81f;
 protected:

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

@@ -77,6 +77,7 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
 
 	//Generate the rows of buttons in the input channel form GUI
     unsigned int index=0;
+    unsigned int indexRT = 0;
     foreach (QString name, manualSettingsObj->getField("ChannelNumber")->getElementNames())
     {
         Q_ASSERT(index < ManualControlSettings::CHANNELGROUPS_NUMELEM);
@@ -88,6 +89,28 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
         addUAVObjectToWidgetRelation("ManualControlSettings","ChannelMin",inpForm->ui->channelMin,index);
         addUAVObjectToWidgetRelation("ManualControlSettings","ChannelNeutral",inpForm->ui->channelNeutral,index);
         addUAVObjectToWidgetRelation("ManualControlSettings","ChannelMax",inpForm->ui->channelMax,index);
+
+        // Input filter response time fields supported for some channels only
+        switch (index) {
+        case ManualControlSettings::CHANNELGROUPS_ROLL:
+        case ManualControlSettings::CHANNELGROUPS_PITCH:
+        case ManualControlSettings::CHANNELGROUPS_YAW:
+        case ManualControlSettings::CHANNELGROUPS_ACCESSORY0:
+        case ManualControlSettings::CHANNELGROUPS_ACCESSORY1:
+        case ManualControlSettings::CHANNELGROUPS_ACCESSORY2:
+            addUAVObjectToWidgetRelation("ManualControlSettings", "ResponseTime", inpForm->ui->channelResponseTime, indexRT);
+            ++indexRT;
+            break;
+        case ManualControlSettings::CHANNELGROUPS_THROTTLE:
+        case ManualControlSettings::CHANNELGROUPS_FLIGHTMODE:
+        case ManualControlSettings::CHANNELGROUPS_COLLECTIVE:
+            inpForm->ui->channelResponseTime->setEnabled(false);
+            break;
+        default:
+            Q_ASSERT(0);
+            break;
+        }
+
         ++index;
     }
 

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

@@ -54,7 +54,7 @@
 #define sign(x) ((x < 0) ? -1 : 1)
 
 // Uncomment this to enable 6 point calibration on the accels
-//#define SIX_POINT_CAL_ACCEL
+#define SIX_POINT_CAL_ACCEL
 
 const double ConfigRevoWidget::maxVarValue = 0.1;
 

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

@@ -49,9 +49,8 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
 
     ExtensionSystem::PluginManager *pm=ExtensionSystem::PluginManager::instance();
     Core::Internal::GeneralSettings * settings=pm->getObject<Core::Internal::GeneralSettings>();
-    if(!settings->useExpertMode() || true)
+    if(!settings->useExpertMode())
         m_stabilization->saveStabilizationToRAM_6->setVisible(false);
-    m_stabilization->saveStabilizationToRAM_6->setVisible(true);
 
     
 

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

@@ -1368,7 +1368,8 @@ channel value for each flight mode.</string>
                    <enum>Qt::StrongFocus</enum>
                   </property>
                   <property name="toolTip">
-                   <string>After the time indicated here, the frame go back to disarmed state.</string>
+                   <string>After the time indicated here, the frame go back to disarmed state.
+Set to 0 to disable (recommended for soaring fixed wings).</string>
                   </property>
                   <property name="maximum">
                    <number>64</number>
@@ -1378,7 +1379,7 @@ channel value for each flight mode.</string>
                 <item>
                  <widget class="QLabel" name="label_19">
                   <property name="text">
-                   <string>seconds.</string>
+                   <string>seconds (0 to disable).</string>
                   </property>
                  </widget>
                 </item>

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

@@ -19,12 +19,14 @@ inputChannelForm::inputChannelForm(QWidget *parent,bool showlegend) :
         layout()->removeWidget(ui->legend3);
         layout()->removeWidget(ui->legend4);
         layout()->removeWidget(ui->legend5);
+        layout()->removeWidget(ui->legend6);
         delete ui->legend0;
         delete ui->legend1;
         delete ui->legend2;
         delete ui->legend3;
         delete ui->legend4;
         delete ui->legend5;
+        delete ui->legend6;
 
     }
 

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

@@ -236,83 +236,6 @@ font:bold;</string>
      </property>
     </widget>
    </item>
-   <item row="0" column="7">
-    <widget class="QLabel" name="legend5">
-     <property name="enabled">
-      <bool>true</bool>
-     </property>
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>20</height>
-      </size>
-     </property>
-     <property name="font">
-      <font>
-       <weight>75</weight>
-       <italic>false</italic>
-       <bold>true</bold>
-      </font>
-     </property>
-     <property name="styleSheet">
-      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-margin:1px;
-font:bold;</string>
-     </property>
-     <property name="frameShape">
-      <enum>QFrame::StyledPanel</enum>
-     </property>
-     <property name="lineWidth">
-      <number>1</number>
-     </property>
-     <property name="text">
-      <string>Max</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-    </widget>
-   </item>
-   <item row="0" column="8">
-    <spacer name="horizontalSpacer_3">
-     <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-     </property>
-     <property name="sizeType">
-      <enum>QSizePolicy::Fixed</enum>
-     </property>
-     <property name="sizeHint" stdset="0">
-      <size>
-       <width>48</width>
-       <height>10</height>
-      </size>
-     </property>
-    </spacer>
-   </item>
-   <item row="0" column="9">
-    <spacer name="horizontalSpacer_4">
-     <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-     </property>
-     <property name="sizeType">
-      <enum>QSizePolicy::Fixed</enum>
-     </property>
-     <property name="sizeHint" stdset="0">
-      <size>
-       <width>42</width>
-       <height>10</height>
-      </size>
-     </property>
-    </spacer>
-   </item>
    <item row="1" column="0">
     <widget class="QLabel" name="channelName">
      <property name="sizePolicy">
@@ -483,6 +406,144 @@ font:bold;</string>
      </property>
     </widget>
    </item>
+   <item row="0" column="7">
+    <widget class="QLabel" name="legend5">
+     <property name="enabled">
+      <bool>true</bool>
+     </property>
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>20</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <weight>75</weight>
+       <italic>false</italic>
+       <bold>true</bold>
+      </font>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+margin:1px;
+font:bold;</string>
+     </property>
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="lineWidth">
+      <number>1</number>
+     </property>
+     <property name="text">
+      <string>Max</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="9">
+    <widget class="QCheckBox" name="channelRev">
+     <property name="enabled">
+      <bool>false</bool>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>20</height>
+      </size>
+     </property>
+     <property name="text">
+      <string>Rev</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="10">
+    <widget class="QSpinBox" name="channelResponseTime">
+     <property name="enabled">
+      <bool>true</bool>
+     </property>
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>30</width>
+       <height>25</height>
+      </size>
+     </property>
+     <property name="toolTip">
+      <string>Optional input filter response time.
+
+Range: 0-999ms, 0 disables filter (default).
+
+Warning: this is an expert mode feature, mostly used for aerial video
+camera control (airframe yaw and camera gimbal accessory channels).
+Too high values for main controls can cause undesirable effects and
+even lead to crash. Use with caution.</string>
+     </property>
+     <property name="wrapping">
+      <bool>false</bool>
+     </property>
+     <property name="frame">
+      <bool>true</bool>
+     </property>
+     <property name="buttonSymbols">
+      <enum>QAbstractSpinBox::NoButtons</enum>
+     </property>
+     <property name="maximum">
+      <number>999</number>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="10">
+    <widget class="QLabel" name="legend6">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>30</width>
+       <height>26</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <weight>75</weight>
+       <italic>false</italic>
+       <bold>true</bold>
+      </font>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+margin:5px;
+font:bold;</string>
+     </property>
+     <property name="text">
+      <string>RT</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
    <item row="1" column="8">
     <widget class="QLabel" name="neutral">
      <property name="sizePolicy">
@@ -508,22 +569,6 @@ font:bold;</string>
      </property>
     </widget>
    </item>
-   <item row="1" column="9">
-    <widget class="QCheckBox" name="channelRev">
-     <property name="enabled">
-      <bool>false</bool>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>20</height>
-      </size>
-     </property>
-     <property name="text">
-      <string>Rev</string>
-     </property>
-    </widget>
-   </item>
   </layout>
   <widget class="QSpinBox" name="channelNumber">
    <property name="enabled">
@@ -552,7 +597,6 @@ font:bold;</string>
   <tabstop>channelMin</tabstop>
   <tabstop>channelNeutral</tabstop>
   <tabstop>channelMax</tabstop>
-  <tabstop>channelRev</tabstop>
  </tabstops>
  <resources/>
  <connections/>

ground/openpilotgcs/src/plugins/coreplugin/CREDITS.html

@@ -4,9 +4,9 @@ Without the work of the people in this file OpenPilot would not be what it is to
 
 <p>It is sorted alphabetically by name</p>
 
-<pre>
-Connor Abbott
+<pre>Connor Abbott
 David Ankers
+Sergiy Anikeyev
 Pedro Assuncao
 Fredrik Arvidsson
 Werner Backes
@@ -16,6 +16,7 @@ David Carlson
 James Cotton
 Steve Doll
 Piotr Esden-Tempski
+Richard Flay
 Peter Farnworth
 Ed Faulkner
 Darren Furniss
@@ -23,6 +24,7 @@ Frederic Goddeeris
 Daniel Godin
 Bani Greyling
 Nuno Guedes
+Erik Gustavsson
 Peter Gunnarsson
 Dean Hall
 Joe Hlebasko
@@ -43,6 +45,7 @@ Ken Northup
 Greg Matthews
 Guy McCaldin
 Gary Mortimer
+Alessio Morale
 Cathy Moss
 Angus Peart
 Dmytro Poplavskiy
@@ -72,6 +75,7 @@ Brian Webb
 Justin Welander
 Mat Wellington
 Kendal Wells
+Dmitriy Zaitsev
 </pre>
 
 </html>

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

@@ -35,8 +35,6 @@ namespace Constants {
 #define GCS_VERSION_MAJOR 1
 #define GCS_VERSION_MINOR 0
 #define GCS_VERSION_RELEASE 0
-const char * const GCS_VERSION_TYPE = "Alpha";
-const char * const GCS_VERSION_CODENAME = "Pascal";
 
 #define STRINGIFY_INTERNAL(x) #x
 #define STRINGIFY(x) STRINGIFY_INTERNAL(x)
@@ -46,18 +44,34 @@ const char * const GCS_VERSION_CODENAME = "Pascal";
     "." STRINGIFY(GCS_VERSION_RELEASE)
 
 const char * const GCS_VERSION_LONG      = GCS_VERSION;
-const char * const GCS_AUTHOR            = "OpenPilot Project";
-const char * const GCS_YEAR              = "2012";
 
-const char * const GCS_HELP              = "http://wiki.openpilot.org";
 #ifdef GCS_REVISION
-const char * const GCS_REVISION_STR      = STRINGIFY(GCS_REVISION);
+const char * const GCS_REVISION_STR      = GCS_REVISION;
+#else
+const char * const GCS_REVISION_STR      = "N/A";
+#endif
+
+#ifdef GCS_YEAR
+const char * const GCS_YEAR_STR          = GCS_YEAR;
+#else
+const char * const GCS_YEAR_STR          = "2013";
+#endif
+
+#ifdef GCS_ORIGIN
+const char * const GCS_ORIGIN_STR        = GCS_ORIGIN;
+#else
+const char * const GCS_ORIGIN_STR        = "unknown repository";
+#endif
+
+#ifdef UAVO_HASH
 const char * const UAVOSHA1_STR          = STRINGIFY(UAVO_HASH);
 #else
-const char * const GCS_REVISION_STR      = "";
 const char * const UAVOSHA1_STR          = "";
 #endif
 
+const char * const GCS_AUTHOR            = "The OpenPilot Project";
+const char * const GCS_HELP              = "http://wiki.openpilot.org";
+
 #undef GCS_VERSION
 #undef STRINGIFY
 #undef STRINGIFY_INTERNAL

ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro

@@ -142,5 +142,3 @@ unix:!macx {
     INSTALLS += images
 }
 OTHER_FILES += Core.pluginspec
-
-include(gcsversioninfo.pri)

ground/openpilotgcs/src/plugins/coreplugin/dialogs/importsettings.cpp

@@ -10,47 +10,47 @@ importSettings::importSettings(QWidget *parent) :
     ui(new Ui::importSettings)
 {
     ui->setupUi(this);
-    connect(ui->cbConfigs,SIGNAL(currentIndexChanged(int)),this,SLOT(updateDetails(int)));
-    connect(ui->btnLoad,SIGNAL(clicked()),this,SLOT(accept()));
-    QTimer::singleShot(500,this,SLOT(repaint()));
+    connect(ui->cbConfigs, SIGNAL(currentIndexChanged(int)), this, SLOT(updateDetails(int)));
+    connect(ui->btnLoad, SIGNAL(clicked()), this, SLOT(accept()));
+    QTimer::singleShot(500, this, SLOT(repaint()));
 }
+
 void importSettings::loadFiles(QString path)
 {
     QDir myDir(path);
     QStringList filters;
     filters << "*.xml";
     QStringList list = myDir.entryList(filters,QDir::Files);
-    int x=0;
-    foreach(QString fileStr, list)
-    {
-        fileInfo * info=new fileInfo;
-        QSettings settings(path+QDir::separator()+fileStr, XmlConfig::XmlSettingsFormat);
+    int x = 0;
+    foreach(QString fileStr, list) {
+        fileInfo *info = new fileInfo;
+        QSettings settings(path+QDir::separator() + fileStr, XmlConfig::XmlSettingsFormat);
         settings.beginGroup("General");
-        info->description=settings.value("Description","None").toString();
-        info->details=settings.value("Details","None").toString();
+        info->description = settings.value("Description", "None").toString();
+        info->details = settings.value("Details", "None").toString();
         settings.endGroup();
-        info->file=path+QDir::separator()+fileStr;
+        info->file = path + QDir::separator() + fileStr;
         configList.insert(x,info);
-        ui->cbConfigs->addItem(info->description,x);
+        ui->cbConfigs->addItem(info->description, x);
         ++x;
     }
 }
 
 void importSettings::updateDetails(int index)
 {
-    fileInfo * info=configList.value(ui->cbConfigs->itemData(index).toInt());
+    fileInfo *info = configList.value(ui->cbConfigs->itemData(index).toInt());
     ui->lblDetails->setText(info->details);
 }
+
 QString importSettings::choosenConfig()
 {
-    fileInfo * info=configList.value(ui->cbConfigs->itemData(ui->cbConfigs->currentIndex()).toInt());
+    fileInfo *info = configList.value(ui->cbConfigs->itemData(ui->cbConfigs->currentIndex()).toInt());
     return info->file;
 }
 
 importSettings::~importSettings()
 {
-    foreach(fileInfo * info,configList.values())
-    {
+    foreach(fileInfo * info,configList.values()) {
         delete info;
     }
     delete ui;

ground/openpilotgcs/src/plugins/coreplugin/dialogs/importsettings.h

@@ -1,3 +1,4 @@
+
 #ifndef IMPORTSETTINGS_H
 #define IMPORTSETTINGS_H
 
@@ -10,8 +11,7 @@ class importSettings;
 class importSettings : public QDialog
 {
     Q_OBJECT
-    struct fileInfo
-    {
+    struct fileInfo {
         QString file;
         QString description;
         QString details;
@@ -23,9 +23,11 @@ public:
     
     void loadFiles(QString path);
     QString choosenConfig();
+
 private:
     Ui::importSettings *ui;
     QMap<int,fileInfo*> configList;
+
 private slots:
     void updateDetails(int);
 };

ground/openpilotgcs/src/plugins/coreplugin/dialogs/settingsdialog.cpp

@@ -37,6 +37,7 @@
 #include <QtCore/QDebug>
 #include <QtCore/QSettings>
 #include <QtGui/QHeaderView>
+#include <QtGui/QLabel>
 #include <QtGui/QPushButton>
 
 namespace {
@@ -91,10 +92,12 @@ SettingsDialog::SettingsDialog(QWidget *parent, const QString &categoryId,
 #endif
     QString initialCategory = categoryId;
     QString initialPage = pageId;
+    qDebug() << "SettingsDialog constructor initial category: " << initialCategory << ", initial page: " << initialPage;
     if (initialCategory.isEmpty() && initialPage.isEmpty()) {
         QSettings *settings = ICore::instance()->settings();
         initialCategory = settings->value("General/LastPreferenceCategory", QVariant(QString())).toString();
         initialPage = settings->value("General/LastPreferencePage", QVariant(QString())).toString();
+        qDebug() << "SettingsDialog settings initial category: " << initialCategory << ", initial page: " << initialPage;
         m_windowWidth = settings->value("General/SettingsWindowWidth", 0).toInt();
         m_windowHeight = settings->value("General/SettingsWindowHeight", 0).toInt();
     }
@@ -125,6 +128,7 @@ SettingsDialog::SettingsDialog(QWidget *parent, const QString &categoryId,
 
     int index = 0;
     bool firstUavGadgetOptionsPageFound = false;
+    QTreeWidgetItem *initialItem = 0;
     foreach (IOptionsPage *page, pages) {
         PageData pageData;
         pageData.index = index;
@@ -165,11 +169,15 @@ SettingsDialog::SettingsDialog(QWidget *parent, const QString &categoryId,
         categoryItemList->append(item);
 
         m_pages.append(page);
-        stackedPages->addWidget(page->createPage(stackedPages));
+
+        // creating all option pages upfront is slow, so we create place holder widgets instead
+        // the real option page widget will be created later when the user selects it
+        // the place holder is a QLabel and we assume that no option page will be a QLabel...
+        QLabel * placeholderWidget = new QLabel(stackedPages);
+        stackedPages->addWidget(placeholderWidget);
 
         if (page->id() == initialPage && currentCategory == initialCategory) {
-            stackedPages->setCurrentIndex(stackedPages->count());
-            pageTree->setCurrentItem(item);
+            initialItem = item;
         }
 
         index++;
@@ -185,6 +193,15 @@ SettingsDialog::SettingsDialog(QWidget *parent, const QString &categoryId,
         }
     }
 
+    if (initialItem) {
+        if (!initialItem->parent()) {
+            // item has no parent, meaning it is single child
+            // so select category item instead as single child are not added to the tree
+            initialItem = categories.value(initialCategory);
+        }
+        pageTree->setCurrentItem(initialItem);
+    }
+
     QList<int> sizes;
     sizes << 150 << 300;
     splitter->setSizes(sizes);
@@ -199,6 +216,13 @@ SettingsDialog::~SettingsDialog()
         QList<QTreeWidgetItem *> *categoryItemList = m_categoryItemsMap.value(category);
         delete categoryItemList;
     }
+    // delete place holders
+    for (int i = 0; i < stackedPages->count(); i++) {
+        QLabel * widget = dynamic_cast<QLabel*>(stackedPages->widget(i));
+        if (widget) {
+            delete widget;
+        }
+    }
 }
 
 void SettingsDialog::pageSelected()
@@ -211,6 +235,16 @@ void SettingsDialog::pageSelected()
     int index = data.index;
     m_currentCategory = data.category;
     m_currentPage = data.id;
+    // check if we are looking at a place holder or not
+    QWidget *widget = dynamic_cast<QLabel*>(stackedPages->widget(index));
+    if (widget) {
+        // place holder found, get rid of it...
+        stackedPages->removeWidget(widget);
+        delete widget;
+        // and replace place holder with actual option page
+        IOptionsPage *page = m_pages.at(index);
+        stackedPages->insertWidget(index, page->createPage(stackedPages));
+    }
     stackedPages->setCurrentIndex(index);
     // If user selects a toplevel item, select the first child for them
     // I.e. Top level items are not really selectable
@@ -297,26 +331,38 @@ void SettingsDialog::disableApplyOk(bool disable)
 void SettingsDialog::accept()
 {
     m_applied = true;
-    foreach (IOptionsPage *page, m_pages) {
-        page->apply();
-        page->finish();
+    for (int i = 0; i < m_pages.size(); i++) {
+        QWidget * widget = dynamic_cast<QLabel*>(stackedPages->widget(i));
+        if (!widget) {
+            IOptionsPage * page = m_pages.at(i);
+            page->apply();
+            page->finish();
+        }
     }
     done(QDialog::Accepted);
 }
 
 void SettingsDialog::reject()
 {
-    foreach (IOptionsPage *page, m_pages)
-        page->finish();
-
+    for (int i = 0; i < m_pages.size(); i++) {
+        QWidget * widget = dynamic_cast<QLabel*>(stackedPages->widget(i));
+        if (!widget) {
+            IOptionsPage * page = m_pages.at(i);
+            page->finish();
+        }
+    }
     done(QDialog::Rejected);
 }
 
 void SettingsDialog::apply()
 {
-    foreach (IOptionsPage *page, m_pages)
-        page->apply();
-
+    for (int i = 0; i < m_pages.size(); i++) {
+        QWidget * widget = dynamic_cast<QLabel*>(stackedPages->widget(i));
+        if (!widget) {
+            IOptionsPage * page = m_pages.at(i);
+            page->apply();
+        }
+    }
     m_applied = true;
 }
 

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

@@ -266,18 +266,15 @@ void MainWindow::modeChanged(Core::IMode */*mode*/)
 
 void MainWindow::extensionsInitialized()
 {
-
-    QSettings* qs = m_settings;
-    QSettings * settings;
+    QSettings *qs = m_settings;
+    QSettings *settings;
     QString commandLine;
-    if ( ! qs->allKeys().count() ){
-        foreach(QString str,qApp->arguments())
-        {
-            if(str.contains("configfile"))
-            {
-                qDebug()<<"ass";
-                commandLine=str.split("=").at(1);
-                qDebug()<<commandLine;
+    if ( ! qs->allKeys().count() ) {
+        foreach(QString str, qApp->arguments()) {
+            if(str.contains("configfile")) {
+                qDebug() << "ass";
+                commandLine = str.split("=").at(1);
+                qDebug() << commandLine;
             }
         }
         QDir directory(QCoreApplication::applicationDirPath());
@@ -289,37 +286,34 @@ void MainWindow::extensionsInitialized()
             directory.cd("share");
             directory.cd("openpilotgcs");
 #endif
-            directory.cd("default_configurations");
+        directory.cd("default_configurations");
 
-            qDebug() << "Looking for default config files in: " + directory.absolutePath();
-        bool showDialog=true;
+        qDebug() << "Looking for default config files in: " + directory.absolutePath();
+        bool showDialog = true;
         QString filename;
-        if(!commandLine.isEmpty())
-        {
-            if(QFile::exists(directory.absolutePath()+QDir::separator()+commandLine))
-            {
-                filename=directory.absolutePath()+QDir::separator()+commandLine;
-                qDebug()<<"Load configuration from command line";
-                settings=new QSettings(filename, XmlConfig::XmlSettingsFormat);
-                showDialog=false;
+        if(!commandLine.isEmpty()) {
+            if(QFile::exists(directory.absolutePath() + QDir::separator()+commandLine)) {
+                filename = directory.absolutePath() + QDir::separator()+commandLine;
+                qDebug() << "Load configuration from command line";
+                settings = new QSettings(filename, XmlConfig::XmlSettingsFormat);
+                showDialog = false;
             }
         }
-        if(showDialog)
-        {
-            importSettings * dialog=new importSettings(this);
+        if(showDialog) {
+            importSettings *dialog = new importSettings(this);
             dialog->loadFiles(directory.absolutePath());
             dialog->exec();
-            filename=dialog->choosenConfig();
-            settings=new QSettings(filename, XmlConfig::XmlSettingsFormat);
+            filename = dialog->choosenConfig();
+            settings = new QSettings(filename, XmlConfig::XmlSettingsFormat);
             delete dialog;
         }
-        qs=settings;
-        qDebug() << "Load default config from resource "<<filename;
+        qs = settings;
+        qDebug() << "Load default config from resource " << filename;
     }
     qs->beginGroup("General");
-    m_config_description=qs->value("Description","none").toString();
-    m_config_details=qs->value("Details","none").toString();
-    m_config_stylesheet=qs->value("StyleSheet","none").toString();
+    m_config_description=qs->value("Description", "none").toString();
+    m_config_details=qs->value("Details", "none").toString();
+    m_config_stylesheet=qs->value("StyleSheet", "none").toString();
     loadStyleSheet(m_config_stylesheet);
     qs->endGroup();
     m_uavGadgetInstanceManager = new UAVGadgetInstanceManager(this);
@@ -799,16 +793,6 @@ void MainWindow::registerDefaultActions()
     mhelp->addAction(cmd, Constants::G_HELP_ABOUT);
 #endif
 
-    //About Plugins Action
-    tmpaction = new QAction(QIcon(Constants::ICON_PLUGIN), tr("About &Plugins..."), this);
-    cmd = am->registerAction(tmpaction, Constants::ABOUT_PLUGINS, m_globalContext);
-    mhelp->addAction(cmd, Constants::G_HELP_ABOUT);
-    tmpaction->setEnabled(true);
-#ifdef Q_WS_MAC
-    cmd->action()->setMenuRole(QAction::ApplicationSpecificRole);
-#endif
-    connect(tmpaction, SIGNAL(triggered()), this,  SLOT(aboutPlugins()));
-
     // About GCS Action
 #ifdef Q_WS_MAC
     tmpaction = new QAction(QIcon(Constants::ICON_OPENPILOT), tr("About &OpenPilot GCS"), this); // it's convention not to add dots to the about menu
@@ -823,6 +807,16 @@ void MainWindow::registerDefaultActions()
 #endif
     connect(tmpaction, SIGNAL(triggered()), this,  SLOT(aboutOpenPilotGCS()));
 
+    //About Plugins Action
+    tmpaction = new QAction(QIcon(Constants::ICON_PLUGIN), tr("About &Plugins..."), this);
+    cmd = am->registerAction(tmpaction, Constants::ABOUT_PLUGINS, m_globalContext);
+    mhelp->addAction(cmd, Constants::G_HELP_ABOUT);
+    tmpaction->setEnabled(true);
+#ifdef Q_WS_MAC
+    cmd->action()->setMenuRole(QAction::ApplicationSpecificRole);
+#endif
+    connect(tmpaction, SIGNAL(triggered()), this,  SLOT(aboutPlugins()));
+
     //Credits Action
     tmpaction = new QAction(QIcon(Constants::ICON_PLUGIN), tr("About &Authors..."), this);
     cmd = am->registerAction(tmpaction, Constants::ABOUT_AUTHORS, m_globalContext);

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

@@ -239,8 +239,9 @@ void UAVGadgetInstanceManager::createOptionsPages()
         m_pm->removeObject(m_optionsPages.takeLast());
     }
 
-    foreach (IUAVGadgetConfiguration *config, m_configurations)
-    {
+    QMutableListIterator<IUAVGadgetConfiguration*> ite(m_configurations);
+    while (ite.hasNext()) {
+        IUAVGadgetConfiguration *config = ite.next();
         IUAVGadgetFactory *f = factory(config->classId());
         IOptionsPage *p = f->createOptionsPage(config);
         if (p) {
@@ -249,6 +250,14 @@ void UAVGadgetInstanceManager::createOptionsPages()
             m_optionsPages.append(page);
             m_pm->addObject(page);
         }
+        else {
+            qWarning()
+                    << "UAVGadgetInstanceManager::createOptionsPages - failed to create options page for configuration "
+                            + config->classId() + ":" + config->name() + ", configuration will be removed.";
+            // The m_optionsPages list and m_configurations list must be in synch otherwise nasty issues happen later
+            // so if we fail to create an options page we must remove the associated configuration
+            ite.remove();
+        }
     }
 }
 

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

@@ -59,16 +59,7 @@ VersionDialog::VersionDialog(QWidget *parent)
     QGridLayout *layout = new QGridLayout(this);
     layout->setSizeConstraint(QLayout::SetFixedSize);
 
-    QString version = QLatin1String(GCS_VERSION_LONG);
-    version += QDate(2007, 25, 10).toString(Qt::SystemLocaleDate);
-
-    QString ideRev;
-#ifdef GCS_REVISION
-     //: This gets conditionally inserted as argument %8 into the description string.
-     ideRev = tr("From revision %1<br/>").arg(QString::fromLatin1(GCS_REVISION_STR).left(60));
-#endif
-     QString uavoHashStr;
- #ifdef UAVO_HASH
+#ifdef UAVO_HASH
       //: This gets conditionally inserted as argument %11 into the description string.
      QByteArray uavoHashArray;
      QString uavoHash = QString::fromLatin1(Core::Constants::UAVOSHA1_STR);
@@ -85,31 +76,41 @@ VersionDialog::VersionDialog(QWidget *parent)
      {
          gcsUavoHashStr.append(QString::number(i,16).right(2));
      }
-     uavoHashStr = tr("UAVO hash %1<br/>").arg(gcsUavoHashStr);
- #endif
+     QString uavoHashStr = gcsUavoHashStr;
+#else
+    QString uavoHashStr = "N/A";
+#endif
 
      const QString description = tr(
-        "<h3>OpenPilot GCS %1 %9 (%10)</h3>"
-        "Based on Qt %2 (%3 bit)<br/>"
+        "<h3>OpenPilot Ground Control Station</h3>"
+        "GCS Revision: <b>%1</b><br/>"
+        "UAVO Hash: %2<br/>"
         "<br/>"
-        "Built on %4 at %5<br />"
+        "Built from %3<br/>"
+        "Built on %4 at %5<br/>"
+        "Based on Qt %6 (%7 bit)<br/>"
         "<br/>"
-        "%8"
+        "&copy; %8, 2010-%9. All rights reserved.<br/>"
         "<br/>"
-        "%11"
+        "<small>This program is free software; you can redistribute it and/or modify<br/>"
+        "it under the terms of the GNU General Public License as published by<br/>"
+        "the Free Software Foundation; either version 3 of the License, or<br/>"
+        "(at your option) any later version.<br/>"
         "<br/>"
-        "Copyright 2010-%6 %7. All rights reserved.<br/>"
-        "<br/>"
-         "<small>This program is free software; you can redistribute it and/or modify<br/>"
-         "it under the terms of the GNU General Public License as published by<br/>"
-         "the Free Software Foundation; either version 3 of the License, or<br/>"
-         "(at your option) any later version.<br/><br/>"
         "The program is provided AS IS with NO WARRANTY OF ANY KIND, "
         "INCLUDING THE WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A "
-        "PARTICULAR PURPOSE.</small><br/>")
-        .arg(version, QLatin1String(QT_VERSION_STR), QString::number(QSysInfo::WordSize),
-             QLatin1String(__DATE__), QLatin1String(__TIME__), QLatin1String(GCS_YEAR), 
-             (QLatin1String(GCS_AUTHOR)), ideRev).arg(QLatin1String(GCS_VERSION_TYPE), QLatin1String(GCS_VERSION_CODENAME), uavoHashStr);
+        "PARTICULAR PURPOSE.</small>"
+     ).arg(
+        QString::fromLatin1(GCS_REVISION_STR).left(60), // %1
+        uavoHashStr,                                    // %2
+        QLatin1String(GCS_ORIGIN_STR),                  // $3
+        QLatin1String(__DATE__),                        // %4
+        QLatin1String(__TIME__),                        // %5
+        QLatin1String(QT_VERSION_STR),                  // %6
+        QString::number(QSysInfo::WordSize),            // %7
+        QLatin1String(GCS_AUTHOR),                      // %8
+        QLatin1String(GCS_YEAR_STR)                     // %9
+    );
 
     QLabel *copyRightLabel = new QLabel(description);
     copyRightLabel->setWordWrap(true);

ground/openpilotgcs/src/plugins/hitl/aerosimrc/src/plugin.pro

@@ -62,7 +62,7 @@ equals(copydata, 1) {
                      libgcc_s_dw2-1.dll \
                      mingwm10.dll
         for(dll, MINGW_DLLS) {
-            data_copy.commands += $(COPY_FILE) $$targetPath(\"$$[QT_INSTALL_BINS]/../../../../../mingw/bin/$$dll\") $$targetPath(\"$$SIM_DIR/$$dll\") $$addNewline()
+            data_copy.commands += $(COPY_FILE) $$targetPath(\"$$(QTMINGW)/$$dll\") $$targetPath(\"$$SIM_DIR/$$dll\") $$addNewline()
         }
 
         data_copy.target = FORCE

ground/openpilotgcs/src/plugins/importexport/importexportgadgetwidget.cpp

@@ -199,8 +199,7 @@ void ImportExportGadgetWidget::importConfiguration(const QString& fileName)
 
 void ImportExportGadgetWidget::on_helpButton_clicked()
 {
-    qDebug() << "Show Help";
-    QDesktopServices::openUrl(QUrl("http://wiki.openpilot.org/Import_Export_plugin"));
+    QDesktopServices::openUrl(QUrl("http://wiki.openpilot.org/x/OQBj"));
 }
 
 

ground/openpilotgcs/src/plugins/modelview/modelviewgadgetwidget.cpp

@@ -114,7 +114,7 @@ void ModelViewGadgetWidget::initializeGL()
     m_Light.setAmbientColor(Qt::lightGray);
 
     m_GlView.cameraHandle()->setDefaultUpVector(glc::Z_AXIS);
-    m_GlView.cameraHandle()->setFrontView();
+    m_GlView.cameraHandle()->setRearView();
     m_GlView.setToOrtho(true); // orthogonal view
 
     glEnable(GL_NORMALIZE);

ground/openpilotgcs/src/plugins/opmap/opmap.pro

@@ -1,5 +1,9 @@
 QT += xml
 TEMPLATE = lib
+PATHPLANNER {
+    DEFINES += USE_PATHPLANNER
+}
+
 TARGET = OPMapGadget
 include(../../openpilotgcsplugin.pri)
 include(../../plugins/coreplugin/coreplugin.pri)

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

@@ -54,6 +54,7 @@
 #include "attitudeactual.h"
 #include "positionactual.h"
 #include "velocityactual.h"
+#include "airspeedactual.h"
 
 #define allow_manual_home_location_move
 
@@ -587,16 +588,21 @@ void OPMapGadgetWidget::updatePosition()
     AttitudeActual *attitudeActualObj = AttitudeActual::GetInstance(obm);
     PositionActual *positionActualObj = PositionActual::GetInstance(obm);
     VelocityActual *velocityActualObj = VelocityActual::GetInstance(obm);
+	AirspeedActual *airspeedActualObj = AirspeedActual::GetInstance(obm);
+
     Gyros *gyrosObj = Gyros::GetInstance(obm);
 
     Q_ASSERT(attitudeActualObj);
     Q_ASSERT(positionActualObj);
     Q_ASSERT(velocityActualObj);
+	Q_ASSERT(airspeedActualObj);
     Q_ASSERT(gyrosObj);
 
     AttitudeActual::DataFields attitudeActualData = attitudeActualObj->getData();
     PositionActual::DataFields positionActualData = positionActualObj->getData();
     VelocityActual::DataFields velocityActualData = velocityActualObj->getData();
+	AirspeedActual::DataFields airspeedActualData = airspeedActualObj->getData();
+
     Gyros::DataFields gyrosData = gyrosObj->getData();
 
     double NED[3]={positionActualData.North, positionActualData.East, positionActualData.Down};
@@ -604,7 +610,7 @@ void OPMapGadgetWidget::updatePosition()
 
     //Set the position and heading estimates in the painter module
     m_map->UAV->SetNED(NED);
-    m_map->UAV->SetCAS(-1); //THIS NEEDS TO BECOME AIRSPEED, ONCE WE SETTLE ON A UAVO
+	m_map->UAV->SetCAS(airspeedActualData.CalibratedAirspeed);
     m_map->UAV->SetGroundspeed(vNED, m_maxUpdateRate);
 
     //Convert angular velocities into a rotationg rate around the world-frame yaw axis. This is found by simply taking the dot product of the angular Euler-rate matrix with the angular rates.

ground/openpilotgcs/src/plugins/osgearthview/osgviewerwidget.cpp

@@ -265,7 +265,7 @@ void OsgViewerWidget::paintEvent( QPaintEvent* event )
         double homeLLA[3] = {homeLocation.Latitude / 10.0e6, homeLocation.Longitude / 10.0e6, homeLocation.Altitude};
 
         double LLA[3];
-        CoordinateConversions().GetLLA(homeLLA, NED, LLA);
+		CoordinateConversions().NED2LLA_HomeLLA(homeLLA, NED, LLA);
         uavPos->getLocator()->setPosition( osg::Vec3d(LLA[1], LLA[0], LLA[2]) );  // Note this takes longtitude first
     } else {
         GPSPosition *gpsPosObj = GPSPosition::GetInstance(objMngr);

ground/openpilotgcs/src/plugins/pfd/pfdgadgetwidget.cpp

@@ -128,11 +128,11 @@ void PFDGadgetWidget::connectNeedles() {
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
 
-    airspeedObj = dynamic_cast<UAVDataObject*>(objManager->getObject("BaroAirspeed"));
+	airspeedObj = dynamic_cast<UAVDataObject*>(objManager->getObject("AirspeedActual"));
     if (airspeedObj != NULL ) {
-        connect(airspeedObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateAirspeed(UAVObject*)));
+		connect(airspeedObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateAirspeed(UAVObject*)));
     } else {
-         qDebug() << "Error: Object is unknown (BaroAirspeed).";
+		 qDebug() << "Error: Object is unknown (AirspeedActual).";
     }
 
     groundspeedObj = dynamic_cast<UAVDataObject*>(objManager->getObject("VelocityActual"));
@@ -323,10 +323,10 @@ void PFDGadgetWidget::updateGroundspeed(UAVObject *object) {
 
 
 /*!
-  \brief Called by updates to @BaroAirspeed
+  \brief Called by updates to @AirspeedActual
   */
 void PFDGadgetWidget::updateAirspeed(UAVObject *object) {
-    UAVObjectField* airspeedField = object->getField("CalibratedAirspeed");
+	UAVObjectField* airspeedField = object->getField("CalibratedAirspeed");
     if (airspeedField) {
         airspeedTarget = airspeedField->getDouble();
 
@@ -1007,31 +1007,31 @@ void PFDGadgetWidget::moveNeedles()
     //////
     if (groundspeedValue != groundspeedTarget) {
         groundspeedValue = groundspeedTarget;
-//        qreal x = m_speedscale->transform().dx();
-//        //opd = QPointF(x,fmod(groundspeedValue,speedScaleHeight/6));
-//        // fmod does rounding errors!! the formula below works better:
-//        QPointF opd = QPointF(x,groundspeedValue-floor(groundspeedValue/speedScaleHeight*6)*speedScaleHeight/6);
-//        m_speedscale->setTransform(QTransform::fromTranslate(opd.x(),opd.y()), false);
+		qreal x = m_speedscale->transform().dx();
+		//opd = QPointF(x,fmod(groundspeedValue,speedScaleHeight/6));
+		// fmod does rounding errors!! the formula below works better:
+		QPointF opd = QPointF(x,groundspeedValue-floor(groundspeedValue/speedScaleHeight*6)*speedScaleHeight/6);
+		m_speedscale->setTransform(QTransform::fromTranslate(opd.x(),opd.y()), false);
 
-//        double speedText = groundspeedValue/speedScaleHeight*30;
-//        QString s = QString().sprintf("%.0f",speedText);
-//        m_speedtext->setPlainText(s);
+		double speedText = groundspeedValue/speedScaleHeight*30;
+		QString s = QString().sprintf("%.0f",speedText);
+		m_speedtext->setPlainText(s);
 
-//        // Now update the text elements inside the scale:
-//        // (Qt documentation states that the list has the same order
-//        // as the item add order in the QGraphicsItemGroup)
-//        QList <QGraphicsItem *> textList = m_speedscale->childItems();
-//        qreal val = 5*floor(groundspeedValue/speedScaleHeight*6)+20;
-//        foreach( QGraphicsItem * item, textList) {
-//            if (QGraphicsTextItem *text = qgraphicsitem_cast<QGraphicsTextItem *>(item)) {
-//                QString s = (val<0) ? QString() : QString().sprintf("%.0f",val);
-//                if (text->toPlainText() == s)
-//                    break; // This should happen at element one if is has not changed, indicating
-//                           // that it's not necessary to do the rest of the list
-//                text->setPlainText(s);
-//                val -= 5;
-//            }
-//        }
+		// Now update the text elements inside the scale:
+		// (Qt documentation states that the list has the same order
+		// as the item add order in the QGraphicsItemGroup)
+		QList <QGraphicsItem *> textList = m_speedscale->childItems();
+		qreal val = 5*floor(groundspeedValue/speedScaleHeight*6)+20;
+		foreach( QGraphicsItem * item, textList) {
+			if (QGraphicsTextItem *text = qgraphicsitem_cast<QGraphicsTextItem *>(item)) {
+				QString s = (val<0) ? QString() : QString().sprintf("%.0f",val);
+				if (text->toPlainText() == s)
+					break; // This should happen at element one if is has not changed, indicating
+						   // that it's not necessary to do the rest of the list
+				text->setPlainText(s);
+				val -= 5;
+			}
+		}
     }
 
     //////

ground/openpilotgcs/src/plugins/plugins.pro

@@ -150,12 +150,6 @@ plugin_pathactioneditor.depends = plugin_coreplugin
 plugin_pathactioneditor.depends += plugin_uavobjects
 SUBDIRS += plugin_pathactioneditor
 
-# Waypoint Editor gadget
-plugin_waypointeditor.subdir = waypointeditor
-plugin_waypointeditor.depends = plugin_coreplugin
-plugin_waypointeditor.depends += plugin_uavobjects
-SUBDIRS += plugin_waypointeditor
-
 # Primary Flight Display (PFD) gadget, QML version
 plugin_pfdqml.subdir = pfdqml
 plugin_pfdqml.depends = plugin_coreplugin

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

@@ -8,13 +8,14 @@
 
 AutoUpdatePage::AutoUpdatePage(SetupWizard *wizard, QWidget *parent) :
     AbstractWizardPage(wizard, parent),
-    ui(new Ui::AutoUpdatePage),m_wiz(wizard)
+    ui(new Ui::AutoUpdatePage)
 {
     ui->setupUi(this);
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     Q_ASSERT(pm);
     UploaderGadgetFactory *uploader = pm->getObject<UploaderGadgetFactory>();
     Q_ASSERT(uploader);
+    connect(ui->startUpdate,SIGNAL(clicked()), this, SLOT(disableButtons()));
     connect(ui->startUpdate,SIGNAL(clicked()),uploader,SIGNAL(autoUpdate()));
     connect(uploader,SIGNAL(autoUpdateSignal(uploader::AutoUpdateStep,QVariant)),this,SLOT(updateStatus(uploader::AutoUpdateStep,QVariant)));
 }
@@ -24,18 +25,30 @@ AutoUpdatePage::~AutoUpdatePage()
     delete ui;
 }
 
+void AutoUpdatePage::enableButtons(bool enable = false)
+{
+    ui->startUpdate->setEnabled(enable);
+    getWizard()->button(QWizard::NextButton)->setEnabled(enable);
+    getWizard()->button(QWizard::CancelButton)->setEnabled(enable);
+    getWizard()->button(QWizard::BackButton)->setEnabled(enable);
+    getWizard()->button(QWizard::CustomButton1)->setEnabled(enable);
+    QApplication::processEvents();
+}
+
 void AutoUpdatePage::updateStatus(uploader::AutoUpdateStep status, QVariant value)
 {
     switch(status)
     {
     case uploader::WAITING_DISCONNECT:
-        m_wiz->setWindowFlags(m_wiz->windowFlags() & ~Qt::WindowStaysOnTopHint);
+        getWizard()->setWindowFlags(getWizard()->windowFlags() & ~Qt::WindowStaysOnTopHint);
+        disableButtons();
         ui->statusLabel->setText("Waiting for all OP boards to be disconnected");
         break;
     case uploader::WAITING_CONNECT:
-        m_wiz->setWindowFlags(m_wiz->windowFlags() | Qt::WindowStaysOnTopHint);
-        m_wiz->setWindowIcon(qApp->windowIcon());
-        m_wiz->show();
+        getWizard()->setWindowFlags(getWizard()->windowFlags() | Qt::WindowStaysOnTopHint);
+        getWizard()->setWindowIcon(qApp->windowIcon());
+        disableButtons();
+        getWizard()->show();
         ui->statusLabel->setText("Please connect the board to the USB port (don't use external supply)");
         ui->levellinProgressBar->setValue(value.toInt());
         break;
@@ -57,12 +70,14 @@ void AutoUpdatePage::updateStatus(uploader::AutoUpdateStep status, QVariant valu
         ui->statusLabel->setText("Booting the board");
         break;
     case uploader::SUCCESS:
+        enableButtons(true);
         ui->statusLabel->setText("Board Updated, please press the 'next' button below");
         break;
     case uploader::FAILURE:
-        m_wiz->setWindowFlags(m_wiz->windowFlags() | Qt::WindowStaysOnTopHint);
-        m_wiz->setWindowIcon(qApp->windowIcon());
-        m_wiz->show();
+        getWizard()->setWindowFlags(getWizard()->windowFlags() | Qt::WindowStaysOnTopHint);
+        getWizard()->setWindowIcon(qApp->windowIcon());
+        enableButtons(true);
+        getWizard()->show();
         ui->statusLabel->setText("Something went wrong, you will have to manualy upgrade the board using the uploader plugin");
         break;
     }

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

@@ -49,10 +49,12 @@ public:
 
 private slots:
     void updateStatus(uploader::AutoUpdateStep ,QVariant);
+    void disableButtons(){ enableButtons(false); }
+    void enableButtons(bool enable);
 
 private:
     Ui::AutoUpdatePage *ui;
-    SetupWizard * m_wiz;
+
 };
 
 #endif // AUTOUPDATEPAGE_H

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

@@ -57,13 +57,13 @@ p, li { white-space: pre-wrap; }
      <item>
       <widget class="QToolButton" name="startUpdate">
        <property name="toolTip">
-        <string>Calculate gyro and accelerometer bias</string>
+        <string>Upgrade now</string>
        </property>
        <property name="styleSheet">
         <string notr="true">QToolButton { border: none }</string>
        </property>
        <property name="text">
-        <string>Calculate</string>
+        <string>Upgrade</string>
        </property>
        <property name="icon">
         <iconset resource="../wizardResources.qrc">

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

@@ -123,7 +123,7 @@ void ControllerPage::setupBoardTypes()
     ui->boardTypeCombo->addItem(tr("OpenPilot CopterControl 3D"), SetupWizard::CONTROLLER_CC3D);
     ui->boardTypeCombo->addItem(tr("OpenPilot Revolution"), SetupWizard::CONTROLLER_REVO);
     //ui->boardTypeCombo->model()->setData(ui->boardTypeCombo->model()->index(ui->boardTypeCombo->count() - 1, 0), v, Qt::UserRole - 1);
-    ui->boardTypeCombo->addItem(tr("OpenPilot PipX Radio Modem"), SetupWizard::CONTROLLER_PIPX);
+    ui->boardTypeCombo->addItem(tr("OpenPilot OPLink Radio Modem"), SetupWizard::CONTROLLER_PIPX);
     //ui->boardTypeCombo->model()->setData(ui->boardTypeCombo->model()->index(ui->boardTypeCombo->count() - 1, 0), v, Qt::UserRole - 1);
 }
 

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

@@ -64,6 +64,7 @@ void LevellingPage::enableButtons(bool enable)
     getWizard()->button(QWizard::NextButton)->setEnabled(enable);
     getWizard()->button(QWizard::CancelButton)->setEnabled(enable);
     getWizard()->button(QWizard::BackButton)->setEnabled(enable);
+    getWizard()->button(QWizard::CustomButton1)->setEnabled(enable);
     QApplication::processEvents();
 }
 

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

@@ -85,6 +85,7 @@ void SavePage::enableButtons(bool enable)
     getWizard()->button(QWizard::NextButton)->setEnabled(enable);
     getWizard()->button(QWizard::CancelButton)->setEnabled(enable);
     getWizard()->button(QWizard::BackButton)->setEnabled(enable);
+    getWizard()->button(QWizard::CustomButton1)->setEnabled(enable);
     QApplication::processEvents();
 }
 

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

@@ -148,7 +148,7 @@ QString SetupWizard::getSummaryText()
             summary.append(tr("OpenPilot Revolution"));
             break;
         case CONTROLLER_PIPX:
-            summary.append(tr("OpenPilot PipX Radio Modem"));
+            summary.append(tr("OpenPilot OPLink Radio Modem"));
             break;
         default:
             summary.append(tr("Unknown"));

ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp

@@ -292,12 +292,12 @@ void VehicleConfigurationHelper::applyFlighModeConfiguration()
 
 void VehicleConfigurationHelper::applyLevellingConfiguration()
 {
+    AttitudeSettings* attitudeSettings = AttitudeSettings::GetInstance(m_uavoManager);
+    Q_ASSERT(attitudeSettings);
+    AttitudeSettings::DataFields data = attitudeSettings->getData();
     if(m_configSource->isLevellingPerformed())
     {
         accelGyroBias bias = m_configSource->getLevellingBias();
-        AttitudeSettings* attitudeSettings = AttitudeSettings::GetInstance(m_uavoManager);
-        Q_ASSERT(attitudeSettings);
-        AttitudeSettings::DataFields data = attitudeSettings->getData();
 
         data.AccelBias[0] += bias.m_accelerometerXBias;
         data.AccelBias[1] += bias.m_accelerometerYBias;
@@ -305,10 +305,10 @@ void VehicleConfigurationHelper::applyLevellingConfiguration()
         data.GyroBias[0] = -bias.m_gyroXBias;
         data.GyroBias[1] = -bias.m_gyroYBias;
         data.GyroBias[2] = -bias.m_gyroZBias;
-
-        attitudeSettings->setData(data);
-        addModifiedObject(attitudeSettings, tr("Writing gyro and accelerometer bias settings"));
     }
+    data.AccelTau = DEFAULT_ENABLED_ACCEL_TAU;
+    attitudeSettings->setData(data);
+    addModifiedObject(attitudeSettings, tr("Writing gyro and accelerometer bias settings"));
 }
 
 void VehicleConfigurationHelper::applyStabilizationConfiguration()

ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.h

@@ -68,6 +68,7 @@ private:
     static const int MIXER_TYPE_DISABLED = 0;
     static const int MIXER_TYPE_MOTOR = 1;
     static const int MIXER_TYPE_SERVO = 2;
+    static const float DEFAULT_ENABLED_ACCEL_TAU = 0.1;
 
     VehicleConfigurationSource *m_configSource;
     UAVObjectManager *m_uavoManager;

ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp

@@ -132,6 +132,7 @@ void UAVObjectBrowserWidget::useScientificNotation(bool scientific)
 
 void UAVObjectBrowserWidget::sendUpdate()
 {
+    this->setFocus();
     ObjectTreeItem *objItem = findCurrentObjectTreeItem();
     Q_ASSERT(objItem);
     objItem->apply();
@@ -165,6 +166,7 @@ ObjectTreeItem *UAVObjectBrowserWidget::findCurrentObjectTreeItem()
 
 void UAVObjectBrowserWidget::saveObject()
 {
+    this->setFocus();
     // Send update so that the latest value is saved
     sendUpdate();
     // Save object

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

@@ -22,7 +22,7 @@ public:
                return QString("OpenPilot INS");
                break;
            case 0x0301://PipX
-               return QString("PipXtreme");
+               return QString("OPLink");
                break;
            case 0x0401://Coptercontrol
                return QString("CopterControl");
@@ -33,10 +33,11 @@ public:
                return QString("CopterControl");
                break;
            case 0x0901://Revolution
-               // It would be nice to say CC3D here but since currently we use string comparisons
-               // for firmware compatibility and the filename path that would break
                return QString("Revolution");
                break;
+           case 0x0903://Revomini
+               return QString("Revomini");
+               break;
            default:
                return QString("");
                break;

ground/openpilotgcs/src/plugins/uavsettingsimportexport/uavsettingsimportexportfactory.cpp

@@ -87,25 +87,6 @@ UAVSettingsImportExportFactory::UAVSettingsImportExportFactory(QObject *parent):
     cmd->action()->setText(tr("Export UAV Data..."));
     ac->addAction(cmd, Core::Constants::G_HELP_HELP);
     connect(cmd->action(), SIGNAL(triggered(bool)), this, SLOT(exportUAVData()));
-
-    ac = am->actionContainer(Core::Constants::M_FILE);
-    cmd = am->registerAction(new QAction(this),
-                             "UAVSettingsImportExportPlugin.UAVWaypointsExport",
-                             QList<int>() <<
-                             Core::Constants::C_GLOBAL_ID);
-    cmd->action()->setText(tr("Export Waypoints..."));
-    ac->addAction(cmd, Core::Constants::G_FILE_SAVE);
-    connect(cmd->action(), SIGNAL(triggered(bool)), this, SLOT(exportWaypoints()));
-
-    ac = am->actionContainer(Core::Constants::M_FILE);
-    cmd = am->registerAction(new QAction(this),
-                             "UAVSettingsImportExportPlugin.UAVWaypointsImport",
-                             QList<int>() <<
-                             Core::Constants::C_GLOBAL_ID);
-    cmd->action()->setText(tr("Import Waypoints..."));
-    ac->addAction(cmd, Core::Constants::G_FILE_SAVE);
-    connect(cmd->action(), SIGNAL(triggered(bool)), this, SLOT(importWaypoints()));
-
 }
 
 // Slot called by the menu manager on user action
@@ -232,125 +213,6 @@ void UAVSettingsImportExportFactory::importUAVSettings()
     swui.exec();
 }
 
-
-// Slot called by the menu manager on user action
-void UAVSettingsImportExportFactory::importWaypoints()
-{
-    // ask for file name
-    QString fileName;
-    QString filters = tr("Waypoint XML files (*.xml)");
-    fileName = QFileDialog::getOpenFileName(0, tr("Import waypoints"), "", filters);
-    if (fileName.isEmpty()) {
-        return;
-    }
-
-    // Now open the file
-    QFile file(fileName);
-    QDomDocument doc("UAVObjects");
-    file.open(QFile::ReadOnly|QFile::Text);
-    if (!doc.setContent(file.readAll())) {
-        QMessageBox msgBox;
-        msgBox.setText(tr("File Parsing Failed."));
-        msgBox.setInformativeText(tr("This file is not a correct XML file"));
-        msgBox.setStandardButtons(QMessageBox::Ok);
-        msgBox.exec();
-        return;
-    }
-    file.close();
-
-    // find the root of settings subtree
-    emit importAboutToBegin();
-    qDebug()<<"Import about to begin";
-
-    QDomElement root = doc.documentElement();
-    if (root.tagName() == "uavobjects") {
-        root = root.firstChildElement("waypoints");
-    }
-    if (root.isNull() || (root.tagName() != "waypoints")) {
-        QMessageBox msgBox;
-        msgBox.setText(tr("Wrong file contents"));
-        msgBox.setInformativeText(tr("This file does not contain waypoints"));
-        msgBox.setStandardButtons(QMessageBox::Ok);
-        msgBox.exec();
-        return;
-    }
-
-    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
-
-    QDomNode node = root.firstChild();
-    while (!node.isNull()) {
-        QDomElement e = node.toElement();
-        if (e.tagName() == "object") {
-
-            //  - Read each object
-            QString uavObjectName  = e.attribute("name");
-            uint uavObjectID = e.attribute("id").toUInt(NULL,16);
-            uint instId = e.attribute("instId").toUInt(NULL,10);
-
-            // Sanity Check:
-            UAVDataObject * obj = dynamic_cast<UAVDataObject*>(objManager->getObject(uavObjectName));
-            if (obj == NULL) {
-                // This object is unknown!
-                qDebug() << "Object unknown:" << uavObjectName << uavObjectID;
-            } else {
-
-                int numInstances = objManager->getNumInstances(obj->getObjID());
-                if (instId >= numInstances) {
-                    obj = obj->clone(instId);
-                    objManager->registerObject(obj);
-                    qDebug() << "Cloned new object";
-                } else {
-                    obj = dynamic_cast<UAVDataObject*>(objManager->getObject(uavObjectName, instId));
-                    Q_ASSERT(obj);
-                    qDebug() << "Setting existing object";
-                }
-
-                //  - Update each field
-                //  - Issue and "updated" command
-                bool error = false;
-                bool setError = false;
-                QDomNode field = node.firstChild();
-                while(!field.isNull()) {
-                    QDomElement f = field.toElement();
-                    if (f.tagName() == "field") {
-                        UAVObjectField *uavfield = obj->getField(f.attribute("name"));
-                        if (uavfield) {
-                            QStringList list = f.attribute("values").split(",");
-                            if (list.length() == 1) {
-                                if (false == uavfield->checkValue(f.attribute("values"))) {
-                                    qDebug() << "checkValue returned false on: " << uavObjectName << f.attribute("values");
-                                    setError = true;
-                                } else {
-                                    uavfield->setValue(f.attribute("values"));
-                                }
-                            } else {
-                                // This is an enum:
-                                int i = 0;
-                                QStringList list = f.attribute("values").split(",");
-                                foreach (QString element, list) {
-                                    if (false == uavfield->checkValue(element, i)) {
-                                        qDebug() << "checkValue(list) returned false on: " << uavObjectName << list;
-                                        setError = true;
-                                    } else {
-                                         uavfield->setValue(element,i);
-                                    }
-                                    i++;
-                                }
-                            }
-                        } else {
-                            error = true;
-                        }
-                    }
-                    field = field.nextSibling();
-                }
-            }
-        }
-        node = node.nextSibling();
-    }
-    qDebug() << "End import";
-}
-
 // Create an XML document from UAVObject database
 QString UAVSettingsImportExportFactory::createXMLDocument(const enum storedData what, const bool fullExport)
 {
@@ -396,7 +258,6 @@ QString UAVSettingsImportExportFactory::createXMLDocument(const enum storedData
     // create settings and/or data elements
     QDomElement settings = doc.createElement("settings");
     QDomElement data = doc.createElement("data");
-    QDomElement waypoints = doc.createElement("waypoints");
 
     switch (what)
     {
@@ -410,121 +271,61 @@ QString UAVSettingsImportExportFactory::createXMLDocument(const enum storedData
         root.appendChild(data);
         root.appendChild(settings);
         break;
-    case Waypoints:
-        root.appendChild(waypoints);
-        break;
     }
 
-    switch (what)
-    {
-    case Settings:
-    case Data:
-    case Both:
-    {
-        // iterate over settings objects
-        QList< QList<UAVDataObject*> > objList = objManager->getDataObjects();
-        foreach (QList<UAVDataObject*> list, objList) {
-            foreach (UAVDataObject *obj, list) {
-                if (((what == Settings) && obj->isSettings()) ||
-                        ((what == Data) && !obj->isSettings()) ||
-                        (what == Both)) {
+    // iterate over settings objects
+    QList< QList<UAVDataObject*> > objList = objManager->getDataObjects();
+    foreach (QList<UAVDataObject*> list, objList) {
+        foreach (UAVDataObject *obj, list) {
+            if (((what == Settings) && obj->isSettings()) ||
+                    ((what == Data) && !obj->isSettings()) ||
+                    (what == Both)) {
 
-                    // add each object to the XML
-                    QDomElement o = doc.createElement("object");
-                    o.setAttribute("name", obj->getName());
-                    o.setAttribute("id", QString("0x")+ QString().setNum(obj->getObjID(),16).toUpper());
-                    if (fullExport) {
-                        QDomElement d = doc.createElement("description");
-                        QDomText t = doc.createTextNode(obj->getDescription().remove("@Ref ", Qt::CaseInsensitive));
-                        d.appendChild(t);
-                        o.appendChild(d);
-                    }
-
-                    // iterate over fields
-                    QList<UAVObjectField*> fieldList = obj->getFields();
-
-                    foreach (UAVObjectField* field, fieldList) {
-                        QDomElement f = doc.createElement("field");
-
-                        // iterate over values
-                        QString vals;
-                        quint32 nelem = field->getNumElements();
-                        for (unsigned int n = 0; n < nelem; ++n) {
-                            vals.append(QString("%1,").arg(field->getValue(n).toString()));
-                        }
-                        vals.chop(1);
-
-                        f.setAttribute("name", field->getName());
-                        f.setAttribute("values", vals);
-                        if (fullExport) {
-                            f.setAttribute("type", field->getTypeAsString());
-                            f.setAttribute("units", field->getUnits());
-                            f.setAttribute("elements", nelem);
-                            if (field->getType() == UAVObjectField::ENUM) {
-                                f.setAttribute("options", field->getOptions().join(","));
-                            }
-                        }
-                        o.appendChild(f);
-                    }
-
-                    // append to the settings or data element
-                    if (obj->isSettings())
-                        settings.appendChild(o);
-                    else
-                        data.appendChild(o);
-                }
-            }
-        }
-    }
-        break;
-    case Waypoints:
-    {
-        // iterate over waypoints until the first one that is set to Stop
-        QList<UAVObject*> list = objManager->getObjectInstances("Waypoint");
-        foreach (UAVObject *obj, list) {
-            // add each object to the XML
-            QDomElement o = doc.createElement("object");
-            o.setAttribute("name", obj->getName());
-            o.setAttribute("id", QString("0x")+ QString().setNum(obj->getObjID(),16).toUpper());
-            o.setAttribute("instId",QString().setNum(obj->getInstID()));
-
-            // iterate over fields
-            QList<UAVObjectField*> fieldList = obj->getFields();
-
-            foreach (UAVObjectField* field, fieldList) {
-                QDomElement f = doc.createElement("field");
-
-                // iterate over values
-                QString vals;
-                quint32 nelem = field->getNumElements();
-                for (unsigned int n = 0; n < nelem; ++n) {
-                    vals.append(QString("%1,").arg(field->getValue(n).toString()));
-                }
-                vals.chop(1);
-
-                f.setAttribute("name", field->getName());
-                f.setAttribute("values", vals);
+                // add each object to the XML
+                QDomElement o = doc.createElement("object");
+                o.setAttribute("name", obj->getName());
+                o.setAttribute("id", QString("0x")+ QString().setNum(obj->getObjID(),16).toUpper());
                 if (fullExport) {
-                    f.setAttribute("type", field->getTypeAsString());
-                    f.setAttribute("units", field->getUnits());
-                    f.setAttribute("elements", nelem);
-                    if (field->getType() == UAVObjectField::ENUM) {
-                        f.setAttribute("options", field->getOptions().join(","));
-                    }
+                    QDomElement d = doc.createElement("description");
+                    QDomText t = doc.createTextNode(obj->getDescription().remove("@Ref ", Qt::CaseInsensitive));
+                    d.appendChild(t);
+                    o.appendChild(d);
                 }
-                o.appendChild(f);
+
+                // iterate over fields
+                QList<UAVObjectField*> fieldList = obj->getFields();
+
+                foreach (UAVObjectField* field, fieldList) {
+                    QDomElement f = doc.createElement("field");
+
+                    // iterate over values
+                    QString vals;
+                    quint32 nelem = field->getNumElements();
+                    for (unsigned int n = 0; n < nelem; ++n) {
+                        vals.append(QString("%1,").arg(field->getValue(n).toString()));
+                    }
+                    vals.chop(1);
+
+                    f.setAttribute("name", field->getName());
+                    f.setAttribute("values", vals);
+                    if (fullExport) {
+                        f.setAttribute("type", field->getTypeAsString());
+                        f.setAttribute("units", field->getUnits());
+                        f.setAttribute("elements", nelem);
+                        if (field->getType() == UAVObjectField::ENUM) {
+                            f.setAttribute("options", field->getOptions().join(","));
+                        }
+                    }
+                    o.appendChild(f);
+                }
+
+                // append to the settings or data element
+                if (obj->isSettings())
+                    settings.appendChild(o);
+                else
+                    data.appendChild(o);
             }
-            waypoints.appendChild(o);
-
-            // If this waypoint was stop, then don't add anymore
-            UAVObjectField *field = obj->getField("Action");
-            Q_ASSERT(field);
-            if(field && field->getValue().toString().compare("Stop") == 0)
-                break;
-
         }
-        break;
-    }
     }
 
     return doc.toString(4);
@@ -622,40 +423,3 @@ void UAVSettingsImportExportFactory::exportUAVData()
     msgBox.setStandardButtons(QMessageBox::Ok);
     msgBox.exec();
 }
-
-/**
-  * Slot called by the menu manager on user action
-  */
-void UAVSettingsImportExportFactory::exportWaypoints()
-{
-
-    // ask for file name
-    QString fileName;
-    QString filters = tr("UAVObjects XML files (*.xml)");
-
-    fileName = QFileDialog::getSaveFileName(0, tr("Save waypoint File As"), "", filters);
-    if (fileName.isEmpty()) {
-        return;
-    }
-
-    // generate an XML first (used for all export formats as a formatted data source)
-    QString xml = createXMLDocument(Waypoints, false);
-
-    // save file
-    QFile file(fileName);
-    if (file.open(QIODevice::WriteOnly) &&
-            (file.write(xml.toAscii()) != -1)) {
-        file.close();
-    } else {
-        QMessageBox::critical(0,
-                              tr("UAV Data Export"),
-                              tr("Unable to save data: ") + fileName,
-                              QMessageBox::Ok);
-        return;
-    }
-
-    QMessageBox msgBox;
-    msgBox.setText(tr("Data saved."));
-    msgBox.setStandardButtons(QMessageBox::Ok);
-    msgBox.exec();
-}

ground/openpilotgcs/src/plugins/uavsettingsimportexport/uavsettingsimportexportfactory.h

@@ -38,16 +38,13 @@ public:
     ~UAVSettingsImportExportFactory();
 
 private:
-    enum storedData { Settings, Data, Waypoints, Both };
+    enum storedData { Settings, Data, Both };
     QString createXMLDocument(const enum storedData, const bool fullExport);
 
 private slots:
     void importUAVSettings();
     void exportUAVSettings();
     void exportUAVData();
-
-    void exportWaypoints();
-    void importWaypoints();
 signals:
     void importAboutToBegin();
     void importEnded();

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

@@ -158,9 +158,9 @@ bool deviceWidget::populateBoardStructuredDescription(QByteArray desc)
     {
         myDevice->lblGitTag->setText(onBoardDescription.gitHash);
         myDevice->lblBuildDate->setText(onBoardDescription.gitDate.insert(4,"-").insert(7,"-"));
-        if (onBoardDescription.gitTag.compare("master") == 0)
+        if(onBoardDescription.gitTag.startsWith("RELEASE",Qt::CaseSensitive))
         {
-            myDevice->lblDescription->setText(QString("Firmware tag: ")+onBoardDescription.gitTag);
+            myDevice->lblDescription->setText(onBoardDescription.gitTag);
             QPixmap pix = QPixmap(QString(":uploader/images/application-certificate.svg"));
             myDevice->lblCertified->setPixmap(pix);
             myDevice->lblCertified->setToolTip(tr("Tagged officially released firmware build"));
@@ -188,7 +188,7 @@ bool deviceWidget::populateLoadedStructuredDescription(QByteArray desc)
     {
         myDevice->lblGitTagL->setText(LoadedDescription.gitHash);
         myDevice->lblBuildDateL->setText( LoadedDescription.gitDate.insert(4,"-").insert(7,"-"));
-        if (LoadedDescription.gitTag.compare("master") == 0)
+        if(LoadedDescription.gitTag.startsWith("RELEASE",Qt::CaseSensitive))
         {
             myDevice->lblDescritpionL->setText(LoadedDescription.gitTag);
             myDevice->description->setText(LoadedDescription.gitTag);
@@ -302,7 +302,7 @@ void deviceWidget::loadFirmware()
             myDevice->statusLabel->setText(tr("The board has newer firmware than loaded. Are you sure you want to update?"));
             px.load(QString(":/uploader/images/warning.svg"));
         }
-        else if (LoadedDescription.gitTag.compare("master"))
+        else if(!LoadedDescription.gitTag.startsWith("RELEASE",Qt::CaseSensitive))
         {
             myDevice->statusLabel->setText(tr("The loaded firmware is untagged or custom build. Update only if it was received from a trusted source (official website or your own build)"));
             px.load(QString(":/uploader/images/warning.svg"));

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

@@ -103,7 +103,7 @@ void runningDeviceWidget::populate()
     deviceDescriptorStruct devDesc;
     if(UAVObjectUtilManager::descriptionToStructure(description,devDesc))
     {
-        if (devDesc.gitTag.compare("master") == 0)
+        if(devDesc.gitTag.startsWith("RELEASE",Qt::CaseSensitive))
         {
             myDevice->lblFWTag->setText(QString("Firmware tag: ")+devDesc.gitTag);
             QPixmap pix = QPixmap(QString(":uploader/images/application-certificate.svg"));

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

@@ -28,6 +28,7 @@
 #include "../../../../../build/ground/openpilotgcs/gcsversioninfo.h"
 #include <coreplugin/coreconstants.h>
 #include <QDebug>
+#include "flightstatus.h"
 
 #define DFU_DEBUG true
 
@@ -49,7 +50,7 @@ UploaderGadgetWidget::UploaderGadgetWidget(QWidget *parent) : QWidget(parent)
 
     connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect()));
 
-    connect(m_config->haltButton, SIGNAL(clicked()), this, SLOT(goToBootloader()));
+    connect(m_config->haltButton, SIGNAL(clicked()), this, SLOT(systemHalt()));
     connect(m_config->resetButton, SIGNAL(clicked()), this, SLOT(systemReset()));
     connect(m_config->bootButton, SIGNAL(clicked()), this, SLOT(systemBoot()));
     connect(m_config->safeBootButton, SIGNAL(clicked()), this, SLOT(systemSafeBoot()));
@@ -120,6 +121,18 @@ void UploaderGadgetWidget::connectSignalSlot(QWidget *widget)
     connect(qobject_cast<deviceWidget *>(widget),SIGNAL(uploadStarted()),this,SLOT(uploadStarted()));
     connect(qobject_cast<deviceWidget *>(widget),SIGNAL(uploadEnded(bool)),this,SLOT(uploadEnded(bool)));
 }
+
+FlightStatus *UploaderGadgetWidget::getFlightStatus()
+{
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    Q_ASSERT(pm);
+    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
+    Q_ASSERT(objManager);
+    FlightStatus *status = dynamic_cast<FlightStatus*>(objManager->getObject(QString("FlightStatus")));
+    Q_ASSERT(status);
+    return status;
+}
+
 void UploaderGadgetWidget::onPhisicalHWConnect()
 {
     m_config->bootButton->setEnabled(false);
@@ -348,6 +361,26 @@ void UploaderGadgetWidget::goToBootloader(UAVObject* callerObj, bool success)
 
 }
 
+void UploaderGadgetWidget::systemHalt()
+{
+    FlightStatus* status = getFlightStatus();
+
+    // The board can not be halted when in armed state.
+    // If board is armed, or arming. Show message with notice.
+    if (status->getArmed() == FlightStatus::ARMED_DISARMED) {
+        goToBootloader();
+    }
+    else {
+        QMessageBox mbox(this);
+        mbox.setText(QString(tr("The controller board is armed and can not be halted.\n\n"
+                                "Please make sure the board is not armed and then press halt again to proceed\n"
+                                "or use the rescue option to force a firmware upgrade.")));
+        mbox.setStandardButtons(QMessageBox::Ok);
+        mbox.setIcon(QMessageBox::Warning);
+        mbox.exec();
+    }
+}
+
 /**
   Tell the mainboard to reset:
    - Send the relevant IAP commands
@@ -355,14 +388,29 @@ void UploaderGadgetWidget::goToBootloader(UAVObject* callerObj, bool success)
    */
 void UploaderGadgetWidget::systemReset()
 {
-    resetOnly = true;
-    if (dfu) {
-        delete dfu;
-        dfu = NULL;
+    FlightStatus* status = getFlightStatus();
+
+    // The board can not be reset when in armed state.
+    // If board is armed, or arming. Show message with notice.
+    if (status->getArmed() == FlightStatus::ARMED_DISARMED) {
+        resetOnly = true;
+        if (dfu) {
+            delete dfu;
+            dfu = NULL;
+        }
+        m_config->textBrowser->clear();
+        log("Board Reset initiated.");
+        goToBootloader();
+    }
+    else {
+        QMessageBox mbox(this);
+        mbox.setText(QString(tr("The controller board is armed and can not be reset.\n\n"
+                                "Please make sure the board is not armed and then press reset again to proceed\n"
+                                "or power cycle to force a board reset.")));
+        mbox.setStandardButtons(QMessageBox::Ok);
+        mbox.setIcon(QMessageBox::Warning);
+        mbox.exec();
     }
-    m_config->textBrowser->clear();
-    log("Board Reset initiated.");
-    goToBootloader();
 }
 
 void UploaderGadgetWidget::systemBoot()
@@ -381,7 +429,6 @@ void UploaderGadgetWidget::systemSafeBoot()
   */
 void UploaderGadgetWidget::commonSystemBoot(bool safeboot)
 {
-
     clearLog();
     m_config->bootButton->setEnabled(false);
     m_config->safeBootButton->setEnabled(false);
@@ -828,6 +875,5 @@ void UploaderGadgetWidget::versionMatchCheck()
 
 void UploaderGadgetWidget::openHelp()
 {
-
     QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/x/AoBZ", QUrl::StrictMode) );
 }

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

@@ -61,6 +61,8 @@
 using namespace OP_DFU;
 using namespace uploader;
 
+class FlightStatus;
+
 class UPLOADER_EXPORT UploaderGadgetWidget : public QWidget
 {
     Q_OBJECT
@@ -94,12 +96,14 @@ private:
      QErrorMessage * msg;
      void connectSignalSlot(QWidget * widget);
      int autoUpdateConnectTimeout;
+     FlightStatus * getFlightStatus();
 private slots:
     void onPhisicalHWConnect();
     void versionMatchCheck();
     void error(QString errorString,int errorNumber);
     void info(QString infoString,int infoNumber);
     void goToBootloader(UAVObject* = NULL, bool = false);
+    void systemHalt();
     void systemReset();
     void systemBoot();
     void systemSafeBoot();

ground/openpilotgcs/src/plugins/waypointeditor/WaypointEditor.pluginspec

@@ -1,11 +0,0 @@
-<plugin name="WaypointEditor" version="0.0.1" compatVersion="1.0.0">
-    <vendor>The OpenPilot Project</vendor>
-    <copyright>(C) 2012 OpenPilot Project</copyright>
-    <license>The GNU Public License (GPL) Version 3</license>
-    <description>Allows editing a list of waypoints</description>
-    <url>http://www.openpilot.org</url>
-    <dependencyList>
-        <dependency name="Core" version="1.0.0"/>
-    </dependencyList>
-</plugin>    
-

ground/openpilotgcs/src/plugins/waypointeditor/waypointeditor.pro

@@ -1,26 +0,0 @@
-TEMPLATE = lib
-TARGET = WaypointEditor 
-
-include(../../openpilotgcsplugin.pri) 
-include(../../plugins/coreplugin/coreplugin.pri) 
-include(../../plugins/uavobjects/uavobjects.pri)
-
-HEADERS += waypointeditorgadget.h \
-    waypointtable.h
-HEADERS += waypointeditorgadgetwidget.h
-HEADERS += waypointeditorgadgetfactory.h
-HEADERS += waypointeditorplugin.h
-
-SOURCES += waypointeditorgadget.cpp \
-    waypointtable.cpp
-SOURCES += waypointeditorgadgetwidget.cpp
-SOURCES += waypointeditorgadgetfactory.cpp
-SOURCES += waypointeditorplugin.cpp
-
-OTHER_FILES += waypointeditor.pluginspec
-
-FORMS += waypointeditor.ui
-
-RESOURCES += waypointeditor.qrc
-
-

ground/openpilotgcs/src/plugins/waypointeditor/waypointeditor.qrc

@@ -1,3 +0,0 @@
-<RCC>
-    <qresource prefix="/waypointeditor"/>
-</RCC>

ground/openpilotgcs/src/plugins/waypointeditor/waypointeditor.ui

@@ -1,55 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>WaypointEditor</class>
- <widget class="QWidget" name="WaypointEditor">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>653</width>
-    <height>296</height>
-   </rect>
-  </property>
-  <property name="sizePolicy">
-   <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-    <horstretch>0</horstretch>
-    <verstretch>0</verstretch>
-   </sizepolicy>
-  </property>
-  <property name="windowTitle">
-   <string>Form</string>
-  </property>
-  <layout class="QVBoxLayout" name="verticalLayout_2">
-   <item>
-    <widget class="QTableView" name="waypoints">
-     <attribute name="horizontalHeaderCascadingSectionResizes">
-      <bool>false</bool>
-     </attribute>
-    </widget>
-   </item>
-   <item>
-    <widget class="QPushButton" name="buttonNewWaypoint">
-     <property name="text">
-      <string>New Waypoint</string>
-     </property>
-    </widget>
-   </item>
-   <item>
-    <widget class="QPushButton" name="buttonSaveFile">
-     <property name="text">
-      <string>Save to File</string>
-     </property>
-    </widget>
-   </item>
-   <item>
-    <widget class="QPushButton" name="buttonLoadFile">
-     <property name="text">
-      <string>Load from File</string>
-     </property>
-    </widget>
-   </item>
-  </layout>
- </widget>
- <resources/>
- <connections/>
-</ui>

ground/openpilotgcs/src/plugins/waypointeditor/waypointeditorgadget.cpp

@@ -1,48 +0,0 @@
-/**
- ******************************************************************************
- * @file       waypointeditorgadget.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @addtogroup Waypoint Editor GCS Plugins
- * @{
- * @addtogroup WaypointEditorGadgetPlugin Waypoint Editor Gadget Plugin
- * @{
- * @brief A gadget to edit a list of waypoints
- *****************************************************************************/
-/*
- * 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 "waypointeditorgadget.h"
-#include "waypointeditorgadgetwidget.h"
-
-#include "extensionsystem/pluginmanager.h"
-#include "uavobjectmanager.h"
-#include "uavobject.h"
-#include <QDebug>
-
-WaypointEditorGadget::WaypointEditorGadget(QString classId, WaypointEditorGadgetWidget *widget, QWidget *parent) :
-        IUAVGadget(classId, parent),
-        m_widget(widget)
-{
-}
-
-WaypointEditorGadget::~WaypointEditorGadget()
-{
-    delete m_widget;
-}
-
-void WaypointEditorGadget::loadConfiguration(IUAVGadgetConfiguration* config)
-{
-    Q_UNUSED(config);
-}

ground/openpilotgcs/src/plugins/waypointeditor/waypointeditorgadget.h

@@ -1,59 +0,0 @@
-/**
- ******************************************************************************
- * @file       waypointeditorgadget.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @addtogroup Waypoint Editor GCS Plugins
- * @{
- * @addtogroup WaypointEditorGadgetPlugin Waypoint Editor Gadget Plugin
- * @{
- * @brief A gadget to edit a list of waypoints
- *****************************************************************************/
-/*
- * 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 WaypointEditorGADGET_H_
-#define WaypointEditorGADGET_H_
-
-#include <coreplugin/iuavgadget.h>
-
-namespace Core {
-class IUAVGadget;
-}
-//class QWidget;
-//class QString;
-class WaypointEditorGadgetWidget;
-
-using namespace Core;
-
-class WaypointEditorGadget : public Core::IUAVGadget
-{
-    Q_OBJECT
-public:
-    WaypointEditorGadget(QString classId, WaypointEditorGadgetWidget *widget, QWidget *parent = 0);
-    ~WaypointEditorGadget();
-
-    QList<int> context() const { return m_context; }
-    QWidget *widget() { return m_widget; }
-    QString contextHelpId() const { return QString(); }
-
-    void loadConfiguration(IUAVGadgetConfiguration* config);
-private:
-        QWidget *m_widget;
-	QList<int> m_context;
-};
-
-
-#endif // WaypointEditorGADGET_H_

ground/openpilotgcs/src/plugins/waypointeditor/waypointeditorgadgetfactory.cpp

@@ -1,47 +0,0 @@
-/**
- ******************************************************************************
- * @file       waypointeditorgadgetfactor.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @addtogroup Waypoint Editor GCS Plugins
- * @{
- * @addtogroup WaypointEditorGadgetPlugin Waypoint Editor Gadget Plugin
- * @{
- * @brief A gadget to edit a list of waypoints
- *****************************************************************************/
-/*
- * 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 "waypointeditorgadgetfactory.h"
-#include "waypointeditorgadgetwidget.h"
-#include "waypointeditorgadget.h"
-#include <coreplugin/iuavgadget.h>
-#include <QDebug>
-
-WaypointEditorGadgetFactory::WaypointEditorGadgetFactory(QObject *parent) :
-        IUAVGadgetFactory(QString("WaypointEditorGadget"),
-                          tr("Waypoint Editor"),
-                          parent)
-{
-}
-
-WaypointEditorGadgetFactory::~WaypointEditorGadgetFactory()
-{
-
-}
-
-IUAVGadget* WaypointEditorGadgetFactory::createGadget(QWidget *parent) {
-    WaypointEditorGadgetWidget* gadgetWidget = new WaypointEditorGadgetWidget(parent);
-    return new WaypointEditorGadget(QString("WaypointEditorGadget"), gadgetWidget, parent);
-}

ground/openpilotgcs/src/plugins/waypointeditor/waypointeditorgadgetwidget.cpp

@@ -1,90 +0,0 @@
-/**
- ******************************************************************************
- * @file       waypointeditorgadgetwidget.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @addtogroup Waypoint Editor GCS Plugins
- * @{
- * @addtogroup WaypointEditorGadgetPlugin Waypoint Editor Gadget Plugin
- * @{
- * @brief A gadget to edit a list of waypoints
- *****************************************************************************/
-/*
- * 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 "waypointeditorgadgetwidget.h"
-#include "ui_waypointeditor.h"
-
-#include <QDebug>
-#include <QString>
-#include <QStringList>
-#include <QtGui/QWidget>
-#include <QtGui/QTextEdit>
-#include <QtGui/QVBoxLayout>
-#include <QtGui/QPushButton>
-
-#include "extensionsystem/pluginmanager.h"
-
-WaypointEditorGadgetWidget::WaypointEditorGadgetWidget(QWidget *parent) : QLabel(parent)
-{
-    m_waypointeditor = new Ui_WaypointEditor();
-    m_waypointeditor->setupUi(this);
-
-    waypointTable = new WaypointTable(this);
-    m_waypointeditor->waypoints->setModel(waypointTable);
-
-    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-    Q_ASSERT(pm != NULL);
-    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
-    Q_ASSERT(objManager != NULL);
-    waypointObj = Waypoint::GetInstance(objManager);
-    Q_ASSERT(waypointObj != NULL);
-
-    // Connect the signals
-    connect(m_waypointeditor->buttonNewWaypoint, SIGNAL(clicked()),
-            this, SLOT(addInstance()));
-}
-
-WaypointEditorGadgetWidget::~WaypointEditorGadgetWidget()
-{
-   // Do nothing
-}
-
-void WaypointEditorGadgetWidget::waypointChanged(UAVObject *)
-{
-}
-
-void WaypointEditorGadgetWidget::waypointActiveChanged(UAVObject *)
-{
-}
-
-void WaypointEditorGadgetWidget::addInstance()
-{
-    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-    Q_ASSERT(pm != NULL);
-    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
-    Q_ASSERT(objManager != NULL);
-
-    qDebug() << "Instances before: " << objManager->getNumInstances(waypointObj->getObjID());
-    Waypoint *obj = new Waypoint();
-    quint32 newInstId = objManager->getNumInstances(waypointObj->getObjID());
-    obj->initialize(newInstId,obj->getMetaObject());
-    objManager->registerObject(obj);
-    qDebug() << "Instances after: " << objManager->getNumInstances(waypointObj->getObjID());
-}
-
-/**
-  * @}
-  * @}
-  */

ground/openpilotgcs/src/plugins/waypointeditor/waypointeditorgadgetwidget.h

@@ -1,57 +0,0 @@
-/**
- ******************************************************************************
- * @file       waypointeditorgadgetwidget.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @addtogroup Waypoint Editor GCS Plugins
- * @{
- * @addtogroup WaypointEditorGadgetPlugin Waypoint Editor Gadget Plugin
- * @{
- * @brief A gadget to edit a list of waypoints
- *****************************************************************************/
-/*
- * 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 WaypointEditorGADGETWIDGET_H_
-#define WaypointEditorGADGETWIDGET_H_
-
-#include <QtGui/QLabel>
-#include <waypointtable.h>
-#include <waypointactive.h>
-
-class Ui_WaypointEditor;
-
-class WaypointEditorGadgetWidget : public QLabel
-{
-    Q_OBJECT
-
-public:
-    WaypointEditorGadgetWidget(QWidget *parent = 0);
-    ~WaypointEditorGadgetWidget();
-
-signals:
-
-protected slots:
-    void waypointChanged(UAVObject *);
-    void waypointActiveChanged(UAVObject *);
-    void addInstance();
-
-private:
-    Ui_WaypointEditor * m_waypointeditor;
-    WaypointTable *waypointTable;
-    Waypoint *waypointObj;
-};
-
-#endif /* WaypointEditorGADGETWIDGET_H_ */

ground/openpilotgcs/src/plugins/waypointeditor/waypointeditorplugin.cpp

@@ -1,68 +0,0 @@
-/**
- ******************************************************************************
- * @file       waypointeditorplugin.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @addtogroup Waypoint Editor GCS Plugins
- * @{
- * @addtogroup WaypointEditorGadgetPlugin Waypoint Editor Gadget Plugin
- * @{
- * @brief A gadget to edit a list of waypoints
- *****************************************************************************/
-/*
- * 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 "waypointeditorplugin.h"
-#include "waypointeditorgadgetfactory.h"
-#include <QDebug>
-#include <QtPlugin>
-#include <QStringList>
-#include <extensionsystem/pluginmanager.h>
-
-
-WaypointEditorPlugin::WaypointEditorPlugin()
-{
-   // Do nothing
-}
-
-WaypointEditorPlugin::~WaypointEditorPlugin()
-{
-   // Do nothing
-}
-
-bool WaypointEditorPlugin::initialize(const QStringList& args, QString *errMsg)
-{
-   Q_UNUSED(args);
-   Q_UNUSED(errMsg);
-   mf = new WaypointEditorGadgetFactory(this);
-   addAutoReleasedObject(mf);
-
-   return true;
-}
-
-void WaypointEditorPlugin::extensionsInitialized()
-{
-   // Do nothing
-}
-
-void WaypointEditorPlugin::shutdown()
-{
-   // Do nothing
-}
-Q_EXPORT_PLUGIN(WaypointEditorPlugin)
-
-/**
-  * @}
-  * @}
-  */

ground/openpilotgcs/src/plugins/waypointeditor/waypointtable.cpp

@@ -1,191 +0,0 @@
-/**
- ******************************************************************************
- * @file       waypointtable.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @addtogroup Waypoint Editor GCS Plugins
- * @{
- * @addtogroup WaypointEditorGadgetPlugin Waypoint Editor Gadget Plugin
- * @{
- * @brief Table model for listing waypoint
- *****************************************************************************/
-/*
- * 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 <QDebug>
-#include <QBrush>
-#include "waypointtable.h"
-#include "extensionsystem/pluginmanager.h"
-
-WaypointTable::WaypointTable(QObject *parent) :
-    QAbstractTableModel(parent)
-{
-    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-    Q_ASSERT(pm != NULL);
-    objManager = pm->getObject<UAVObjectManager>();
-    Q_ASSERT(objManager != NULL);
-    waypointObj = Waypoint::GetInstance(objManager);
-    Q_ASSERT(waypointObj != NULL);
-    waypointActiveObj = WaypointActive::GetInstance(objManager);
-    Q_ASSERT(waypointActiveObj != NULL);
-
-    elements = 0;
-
-    // Unfortunately there is no per object new instance signal yet
-    connect(objManager, SIGNAL(newInstance(UAVObject*)),
-            this, SLOT(doNewInstance(UAVObject*)));
-    connect(waypointActiveObj, SIGNAL(objectUpdated(UAVObject*)),
-            this, SLOT(waypointsUpdated(UAVObject*)));
-
-    int numWaypoints = objManager->getNumInstances(Waypoint::OBJID);
-    for (int i = 0; i < numWaypoints; i++) {
-        Waypoint *waypoint = Waypoint::GetInstance(objManager, i);
-        Q_ASSERT(waypoint);
-        if(waypoint)
-            connect(waypoint, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(waypointsUpdated(UAVObject*)));
-    }
-
-    headers.clear();
-    headers.append(QString("North"));
-    headers.append(QString("East"));
-    headers.append(QString("Down"));
-}
-
-int WaypointTable::rowCount(const QModelIndex & /*parent*/) const
-{
-    return elements;
-}
-
-int WaypointTable::columnCount(const QModelIndex &parent) const
-{
-    if (parent.isValid())
-        return 0;
-
-    return headers.length();
-}
-
-QVariant WaypointTable::data(const QModelIndex &index, int role) const
-{
-    if(role == Qt::DisplayRole) {
-        Waypoint *obj = Waypoint::GetInstance(objManager, index.row());
-        Q_ASSERT(obj);
-        Waypoint::DataFields waypoint = obj->getData();
-
-        switch(index.column()) {
-        case 0:
-            return waypoint.Position[Waypoint::POSITION_NORTH];
-        case 1:
-            return waypoint.Position[Waypoint::POSITION_EAST];
-        case 2:
-            return waypoint.Position[Waypoint::POSITION_DOWN];
-        default:
-            Q_ASSERT(0);
-            return 0;
-        }
-    } else if (role == Qt::BackgroundRole) {
-        WaypointActive::DataFields waypointActive = waypointActiveObj->getData();
-
-        if(index.row() == waypointActive.Index) {
-            return QBrush(Qt::lightGray);
-        } else
-            return QVariant::Invalid;
-    }
-    else {
-        return QVariant::Invalid;
-    }
-
-}
-
-QVariant WaypointTable::headerData(int section, Qt::Orientation orientation, int role) const
-{
-    if(role == Qt::DisplayRole && orientation == Qt::Horizontal) {
-        if(section < headers.length())
-            return headers[section];
-        return QVariant::Invalid;
-    } else
-        return QAbstractTableModel::headerData(section, orientation, role);
-}
-
-/**
-  * Called for any new UAVO instance and when that is a Waypoint register
-  * to update the table
-  */
-void WaypointTable::doNewInstance(UAVObject*obj)
-{
-    Q_ASSERT(obj);
-    if (!obj)
-        return;
-
-    if (obj->getObjID() == Waypoint::OBJID)
-        connect(obj, SIGNAL(objectUpdated(UAVObject*)),this,SLOT(waypointsUpdated(UAVObject*)));
-}
-
-/**
-  * Called whenever the waypoints are updated to inform
-  * the view
-  */
-void WaypointTable::waypointsUpdated(UAVObject *)
-{
-     int elementsNow = objManager->getNumInstances(waypointObj->getObjID());
-
-    // Currently only support adding instances which is all the UAVO manager
-    // supports
-    if (elementsNow > elements) {
-        beginInsertRows(QModelIndex(), elements, elementsNow-1);
-        elements = elementsNow;
-        endInsertRows();
-    }
-
-    QModelIndex i1 = index(0,0);
-    QModelIndex i2 = index(elements-1, columnCount(QModelIndex()));
-    emit dataChanged(i1, i2);
-}
-
-Qt::ItemFlags WaypointTable::flags(const QModelIndex &index) const
-{
-    return QAbstractTableModel::flags(index) | Qt::ItemIsEditable;
-}
-
-bool WaypointTable::setData ( const QModelIndex & index, const QVariant & value, int role = Qt::EditRole )
-{
-    Q_UNUSED(role);
-
-    double val = value.toDouble();
-    qDebug() << "New value " << val << " for column " << index.column();
-
-    Waypoint *obj = Waypoint::GetInstance(objManager, index.row());
-    Q_ASSERT(obj);
-    Waypoint::DataFields waypoint = obj->getData();
-
-    switch(index.column()) {
-    case 0:
-        waypoint.Position[Waypoint::POSITION_NORTH] = val;
-        break;
-    case 1:
-        waypoint.Position[Waypoint::POSITION_EAST] = val;
-        break;
-    case 2:
-        waypoint.Position[Waypoint::POSITION_DOWN] = val;
-        break;
-    default:
-        return false;
-    }
-
-    obj->setData(waypoint);
-    obj->updated();
-    qDebug() << "Set data for instance " << obj->getInstID();
-
-    return true;
-}