Merge remote-tracking branch 'origin/corvuscorax/CC_GPS' into next

flight/Bootloaders/OpenPilot/inc/pios_config.h

@@ -43,23 +43,12 @@
 #define PIOS_INCLUDE_OPAHRS
 #define PIOS_INCLUDE_COM
 #define PIOS_INCLUDE_GPIO
-#define PIOS_NO_GPS
 //#define DEBUG_SSP
 
 /* Defaults for Logging */
 #define LOG_FILENAME 			"PIOS.LOG"
 #define STARTUP_LOG_ENABLED		1
 
-/* COM Module */
-#define GPS_BAUDRATE			19200
-#define TELEM_BAUDRATE			19200
-#define AUXUART_ENABLED			0
-#define AUXUART_BAUDRATE		19200
-
-/* Servos */
-#define SERVOS_POSITION_MIN		800
-#define SERVOS_POSITION_MAX		2200
-
 #endif /* PIOS_CONFIG_H */
 /**
  * @}

flight/Bootloaders/PipXtreme/inc/pios_config.h

@@ -40,23 +40,12 @@
 #define PIOS_INCLUDE_USB_HID
 #define PIOS_INCLUDE_COM
 #define PIOS_INCLUDE_GPIO
-#define PIOS_NO_GPS
 //#define DEBUG_SSP
 
 /* Defaults for Logging */
 #define LOG_FILENAME 			"PIOS.LOG"
 #define STARTUP_LOG_ENABLED		1
 
-/* COM Module */
-#define GPS_BAUDRATE			19200
-#define TELEM_BAUDRATE			19200
-#define AUXUART_ENABLED			0
-#define AUXUART_BAUDRATE		19200
-
-/* Servos */
-#define SERVOS_POSITION_MIN		800
-#define SERVOS_POSITION_MAX		2200
-
 #endif /* PIOS_CONFIG_H */
 /**
  * @}

flight/CopterControl/Makefile

@@ -48,7 +48,7 @@ ENABLE_DEBUG_PINS ?= NO
 # Set to Yes to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs
 ENABLE_AUX_UART ?= NO
 
-USE_GPS ?= NO
+USE_GPS ?= YES
 
 USE_I2C ?= NO
 
@@ -65,8 +65,13 @@ endif
 FLASH_TOOL = OPENOCD
 
 # List of modules to include
-MODULES = Attitude Stabilization Actuator ManualControl FirmwareIAP CameraStab
+OPTMODULES = CameraStab
-# Telemetry must be last to grab the optional modules
+ifeq ($(USE_GPS), YES)
+OPTMODULES += GPS
+endif
+
+MODULES = Attitude Stabilization Actuator ManualControl FirmwareIAP
+# Telemetry must be last to grab the optional modules (why?)
 MODULES += Telemetry
 
 # Paths
@@ -120,6 +125,7 @@ OPUAVSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
 
 ifndef TESTAPP
 ## MODULES
+SRC += ${foreach MOD, ${OPTMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
 SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
 ## OPENPILOT CORE:
 SRC += ${OPMODULEDIR}/System/systemmod.c
@@ -159,13 +165,13 @@ SRC += $(OPUAVSYNTHDIR)/attitudeactual.c
 SRC += $(OPUAVSYNTHDIR)/manualcontrolcommand.c
 SRC += $(OPUAVSYNTHDIR)/i2cstats.c
 SRC += $(OPUAVSYNTHDIR)/watchdogstatus.c
-SRC += $(OPUAVSYNTHDIR)/telemetrysettings.c
 SRC += $(OPUAVSYNTHDIR)/manualcontrolsettings.c
 SRC += $(OPUAVSYNTHDIR)/mixersettings.c
 SRC += $(OPUAVSYNTHDIR)/firmwareiapobj.c
 SRC += $(OPUAVSYNTHDIR)/attitudesettings.c
 SRC += $(OPUAVSYNTHDIR)/camerastabsettings.c
 SRC += $(OPUAVSYNTHDIR)/cameradesired.c
+SRC += $(OPUAVSYNTHDIR)/gpsposition.c
 SRC += $(OPUAVSYNTHDIR)/hwsettings.c
 SRC += $(OPUAVSYNTHDIR)/gcsreceiver.c
 SRC += $(OPUAVSYNTHDIR)/receiveractivity.c
@@ -332,7 +338,7 @@ EXTRAINCDIRS  += $(RTOSSRCDIR)/portable/GCC/ARM_CM3
 EXTRAINCDIRS  += $(AHRSBOOTLOADERINC)
 EXTRAINCDIRS  += $(PYMITEINC)
 
-EXTRAINCDIRS += ${foreach MOD, ${MODULES}, ${OPMODULEDIR}/${MOD}/inc} ${OPMODULEDIR}/System/inc
+EXTRAINCDIRS += ${foreach MOD, ${OPTMODULES} ${MODULES}, ${OPMODULEDIR}/${MOD}/inc} ${OPMODULEDIR}/System/inc
 
 
 # List any extra directories to look for library files here.

flight/CopterControl/System/coptercontrol.c

@@ -36,7 +36,6 @@
 #include "openpilot.h"
 #include "uavobjectsinit.h"
 #include "hwsettings.h"
-#include "camerastab.h"
 #include "systemmod.h"
 
 /* Task Priorities */
@@ -74,14 +73,6 @@ int main()
 	/* Initialize modules */
 	MODULE_INITIALISE_ALL
 
-	/* Optional module initialization.  This code might want to go somewhere else as
-	 * it grows */
-	uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
-	HwSettingsOptionalModulesGet(optionalModules);
-	if(optionalModules[HWSETTINGS_OPTIONALMODULES_CAMERASTABILIZATION] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
-		CameraStabInitialize();
-	}
-
 	/* swap the stack to use the IRQ stack */
 	Stack_Change();
 

flight/CopterControl/System/inc/pios_config.h

@@ -54,7 +54,8 @@
 
 /* Supported USART-based PIOS modules */
 #define PIOS_INCLUDE_TELEMETRY_RF
-//#define PIOS_INCLUDE_GPS
+#define PIOS_INCLUDE_GPS
+#define PIOS_GPS_MINIMAL
 
 #define PIOS_INCLUDE_SERVO
 #define PIOS_INCLUDE_SPI
@@ -80,12 +81,6 @@
 #define LOG_FILENAME 			"PIOS.LOG"
 #define STARTUP_LOG_ENABLED		1
 
-/* COM Module */
-#define GPS_BAUDRATE			19200
-#define TELEM_BAUDRATE			19200
-#define AUXUART_ENABLED			0
-#define AUXUART_BAUDRATE		19200
-
 /* Alarm Thresholds */
 #define HEAP_LIMIT_WARNING             220
 #define HEAP_LIMIT_CRITICAL             40
@@ -107,6 +102,9 @@
 // This can't be too high to stop eventdispatcher thread overflowing
 #define PIOS_EVENTDISAPTCHER_QUEUE      10
 
+/* PIOS Initcall infrastructure */
+#define PIOS_INCLUDE_INITCALL
+
 #endif /* PIOS_CONFIG_H */
 /**
  * @}

flight/CopterControl/System/inc/pios_config_posix.h

@@ -44,11 +44,4 @@
 #define LOG_FILENAME 			"PIOS.LOG"
 #define STARTUP_LOG_ENABLED		1
 
-/* COM Module */
-#define GPS_BAUDRATE			19200
-#define TELEM_BAUDRATE			19200
-#define AUXUART_ENABLED			0
-#define AUXUART_BAUDRATE		19200
-
-
 #endif /* PIOS_CONFIG_POSIX_H */

flight/CopterControl/System/pios_board.c

@@ -865,7 +865,7 @@ static const struct pios_sbus_cfg pios_sbus_cfg = {
 #define PIOS_COM_TELEM_RF_RX_BUF_LEN 192
 #define PIOS_COM_TELEM_RF_TX_BUF_LEN 192
 
-#define PIOS_COM_GPS_RX_BUF_LEN 96
+#define PIOS_COM_GPS_RX_BUF_LEN 32
 
 #define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
 #define PIOS_COM_TELEM_USB_TX_BUF_LEN 192

flight/INS/inc/pios_config.h

@@ -54,13 +54,7 @@
 
 #define PIOS_INCLUDE_BMA180
 
-/* COM Module */
-#define GPS_BAUDRATE			19200
-#define AUXUART_ENABLED			0
-#define AUXUART_BAUDRATE		19200
-
 #endif /* PIOS_CONFIG_H */
-
 /**
  * @}
  * @}

flight/Modules/CameraStab/camerastab.c

@@ -51,6 +51,7 @@
 #include "attitudeactual.h"
 #include "camerastabsettings.h"
 #include "cameradesired.h"
+#include "hwsettings.h"
 
 //
 // Configuration
@@ -61,6 +62,8 @@
 
 // Private variables
 
+static uint8_t camerastabEnabled = 0;
+
 // Private functions
 static void attitudeUpdated(UAVObjEvent* ev);
 static float bound(float val);
@@ -72,18 +75,43 @@ static float bound(float val);
 int32_t CameraStabInitialize(void)
 {
 	static UAVObjEvent ev;
-	ev.obj = AttitudeActualHandle();
-	ev.instId = 0;
-	ev.event = 0;
 
-	CameraStabSettingsInitialize();
+	HwSettingsInitialize();
-	CameraDesiredInitialize();
+	uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
+	HwSettingsOptionalModulesGet(optionalModules);
+    if (optionalModules[HWSETTINGS_OPTIONALMODULES_CAMERASTAB]==HWSETTINGS_OPTIONALMODULES_ENABLED) {
+		camerastabEnabled=1;
+	} else {
+		camerastabEnabled=0;
+	}
 
-	EventPeriodicCallbackCreate(&ev, attitudeUpdated, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
+	if (camerastabEnabled) {
 
+		AttitudeActualInitialize();
+
+		ev.obj = AttitudeActualHandle();
+		ev.instId = 0;
+		ev.event = 0;
+
+		CameraStabSettingsInitialize();
+		CameraDesiredInitialize();
+
+		EventPeriodicCallbackCreate(&ev, attitudeUpdated, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
+
+		return 0;
+	}
+
+	return -1;
+}
+
+/* stub: module has no module thread */
+int32_t CameraStabStart(void)
+{
 	return 0;
 }
 
+MODULE_INITCALL(CameraStabInitialize, CameraStabStart)
+
 static void attitudeUpdated(UAVObjEvent* ev)
 {
 	if (ev->obj != AttitudeActualHandle())

flight/Modules/GPS/GPS.c

@@ -43,11 +43,14 @@
 #include "gpssatellites.h"
 #include "WorldMagModel.h"
 #include "CoordinateConversions.h"
+#include "hwsettings.h"
+
 
 // ****************
 // Private functions
 
 static void gpsTask(void *parameters);
+static void updateSettings();
 
 #ifdef PIOS_GPS_SETS_HOMELOCATION
 static void setHomeLocation(GPSPositionData * gpsData);
@@ -75,6 +78,7 @@ static float GravityAccel(float latitude, float longitude, float altitude);
 // Private variables
 
 static uint32_t gpsPort;
+static uint8_t gpsEnabled = 0;
 
 static xTaskHandle gpsTaskHandle;
 
@@ -95,12 +99,19 @@ static uint32_t numParsingErrors;
 
 int32_t GPSStart(void)
 {
-	// Start gps task
+	if (gpsEnabled) {
-	xTaskCreate(gpsTask, (signed char *)"GPS", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &gpsTaskHandle);
+		if (gpsPort) {
-	TaskMonitorAdd(TASKINFO_RUNNING_GPS, gpsTaskHandle);
+			// Start gps task
+			xTaskCreate(gpsTask, (signed char *)"GPS", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &gpsTaskHandle);
+			TaskMonitorAdd(TASKINFO_RUNNING_GPS, gpsTaskHandle);
+			return 0;
+		}
 
-	return 0;
+		AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_CRITICAL);
+	}
+	return -1;
 }
+
 /**
  * Initialise the gps module
  * \return -1 if initialisation failed
@@ -108,20 +119,35 @@ int32_t GPSStart(void)
  */
 int32_t GPSInitialize(void)
 {
-	GPSPositionInitialize();
-	GPSTimeInitialize();
-	GPSSatellitesInitialize();
-#ifdef PIOS_GPS_SETS_HOMELOCATION
-	HomeLocationInitialize();
-#endif
-	
-	// TODO: Get gps settings object
 	gpsPort = PIOS_COM_GPS;
+	HwSettingsInitialize();
+	uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
+	HwSettingsOptionalModulesGet(optionalModules);
+    if (optionalModules[HWSETTINGS_OPTIONALMODULES_GPS]==HWSETTINGS_OPTIONALMODULES_ENABLED) {
+		gpsEnabled=1;
+	} else {
+		gpsEnabled=0;
+	}
 
-	gps_rx_buffer = pvPortMalloc(NMEA_MAX_PACKET_LENGTH);
+	if (gpsPort && gpsEnabled) {
-	PIOS_Assert(gps_rx_buffer);
+		GPSPositionInitialize();
+#if !defined(PIOS_GPS_MINIMAL)
+		GPSTimeInitialize();
+		GPSSatellitesInitialize();
+#endif
+#ifdef PIOS_GPS_SETS_HOMELOCATION
+		HomeLocationInitialize();
+#endif
+		HwSettingsInitialize();
+		updateSettings();
 
-	return 0;
+		gps_rx_buffer = pvPortMalloc(NMEA_MAX_PACKET_LENGTH);
+		PIOS_Assert(gps_rx_buffer);
+
+		return 0;
+	}
+
+	return -1;
 }
 MODULE_INITCALL(GPSInitialize, GPSStart)
 
@@ -330,7 +356,47 @@ static void setHomeLocation(GPSPositionData * gpsData)
 }
 #endif
 
-// ****************
+/**
+ * Update the GPS settings, called on startup.
+ * FIXME: This should be in the GPSSettings object. But objects have
+ * too much overhead yet. Also the GPS has no any specific settings
+ * like protocol, etc. Thus the HwSettings object which contains the
+ * GPS port speed is used for now.
+ */
+static void updateSettings()
+{
+	if (gpsPort) {
+
+		// Retrieve settings
+		uint8_t speed;
+		HwSettingsGPSSpeedGet(&speed);
+
+		// Set port speed
+		switch (speed) {
+		case HWSETTINGS_GPSSPEED_2400:
+			PIOS_COM_ChangeBaud(gpsPort, 2400);
+			break;
+		case HWSETTINGS_GPSSPEED_4800:
+			PIOS_COM_ChangeBaud(gpsPort, 4800);
+			break;
+		case HWSETTINGS_GPSSPEED_9600:
+			PIOS_COM_ChangeBaud(gpsPort, 9600);
+			break;
+		case HWSETTINGS_GPSSPEED_19200:
+			PIOS_COM_ChangeBaud(gpsPort, 19200);
+			break;
+		case HWSETTINGS_GPSSPEED_38400:
+			PIOS_COM_ChangeBaud(gpsPort, 38400);
+			break;
+		case HWSETTINGS_GPSSPEED_57600:
+			PIOS_COM_ChangeBaud(gpsPort, 57600);
+			break;
+		case HWSETTINGS_GPSSPEED_115200:
+			PIOS_COM_ChangeBaud(gpsPort, 115200);
+			break;
+		}
+	}
+}
 
 /** 
   * @}

flight/Modules/GPS/NMEA.c

@@ -70,8 +70,10 @@ static bool nmeaProcessGPGGA(GPSPositionData * GpsData, bool* gpsDataUpdated, ch
 static bool nmeaProcessGPRMC(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
 static bool nmeaProcessGPVTG(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
 static bool nmeaProcessGPGSA(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
-static bool nmeaProcessGPZDA(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
+#if !defined(PIOS_GPS_MINIMAL)
-static bool nmeaProcessGPGSV(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
+	static bool nmeaProcessGPZDA(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
+	static bool nmeaProcessGPGSV(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
+#endif //PIOS_GPS_MINIMAL
 
 
 static struct nmea_parser nmea_parsers[] = {
@@ -95,6 +97,7 @@ static struct nmea_parser nmea_parsers[] = {
 		.handler = nmeaProcessGPRMC,
 		.cnt = 0,
 	},
+#if !defined(PIOS_GPS_MINIMAL)
 	{
 		.prefix = "GPZDA",
 		.handler = nmeaProcessGPZDA,
@@ -105,6 +108,7 @@ static struct nmea_parser nmea_parsers[] = {
 		.handler = nmeaProcessGPGSV,
 		.cnt = 0,
 	},
+#endif //PIOS_GPS_MINIMAL
 };
 
 static struct nmea_parser *NMEA_find_parser_by_prefix(const char *prefix)
@@ -428,6 +432,7 @@ static bool nmeaProcessGPRMC(GPSPositionData * GpsData, bool* gpsDataUpdated, ch
 
 	*gpsDataUpdated = true;
 
+#if !defined(PIOS_GPS_MINIMAL)
 	GPSTimeData gpst;
 	GPSTimeGet(&gpst);
 
@@ -436,6 +441,7 @@ static bool nmeaProcessGPRMC(GPSPositionData * GpsData, bool* gpsDataUpdated, ch
 	gpst.Second = (int)hms % 100;
 	gpst.Minute = (((int)hms - gpst.Second) / 100) % 100;
 	gpst.Hour = (int)hms / 10000;
+#endif //PIOS_GPS_MINIMAL
 
 	// get latitude [DDMM.mmmmm] [N|S]
 	if (!NMEA_latlon_to_fixed_point(&GpsData->Latitude, param[3], param[4][0] == 'S')) {
@@ -453,6 +459,7 @@ static bool nmeaProcessGPRMC(GPSPositionData * GpsData, bool* gpsDataUpdated, ch
 	// get True course
 	GpsData->Heading = NMEA_real_to_float(param[8]);
 
+#if !defined(PIOS_GPS_MINIMAL)
 	// get Date of fix
 	// TODO: Should really not use a float here to be safe
 	float date = NMEA_real_to_float(param[9]);
@@ -461,6 +468,7 @@ static bool nmeaProcessGPRMC(GPSPositionData * GpsData, bool* gpsDataUpdated, ch
 	gpst.Day = (int)(date / 10000);
 	gpst.Year += 2000;
 	GPSTimeSet(&gpst);
+#endif //PIOS_GPS_MINIMAL
 
 	return true;
 }
@@ -488,6 +496,7 @@ static bool nmeaProcessGPVTG(GPSPositionData * GpsData, bool* gpsDataUpdated, ch
 	return true;
 }
 
+#if !defined(PIOS_GPS_MINIMAL)
 /**
  * Parse an NMEA GPZDA sentence and update the @ref GPSTime object
  * \param[in] A pointer to a GPSPosition UAVObject to be updated (unused).
@@ -610,6 +619,7 @@ static bool nmeaProcessGPGSV(GPSPositionData * GpsData, bool* gpsDataUpdated, ch
 
 	return true;
 }
+#endif //PIOS_GPS_MINIMAL
 
 /**
  * Parse an NMEA GPGSA sentence and update the given UAVObject

flight/Modules/System/systemmod.c

@@ -46,6 +46,7 @@
 #include "systemsettings.h"
 #include "i2cstats.h"
 #include "taskinfo.h"
+#include "hwsettings.h"
 #include "watchdogstatus.h"
 #include "taskmonitor.h"
 

flight/Modules/Telemetry/telemetry.c

@@ -34,7 +34,7 @@
 #include "telemetry.h"
 #include "flighttelemetrystats.h"
 #include "gcstelemetrystats.h"
-#include "telemetrysettings.h"
+#include "hwsettings.h"
 
 // Private constants
 #define MAX_QUEUE_SIZE   TELEM_QUEUE_SIZE
@@ -65,7 +65,6 @@ static xTaskHandle telemetryTxTaskHandle;
 static xTaskHandle telemetryRxTaskHandle;
 static uint32_t txErrors;
 static uint32_t txRetries;
-static TelemetrySettingsData settings;
 static uint32_t timeOfLastObjectUpdate;
 static UAVTalkConnection uavTalkCon;
 
@@ -94,7 +93,6 @@ int32_t TelemetryStart(void)
     
 	// Listen to objects of interest
 	GCSTelemetryStatsConnectQueue(priorityQueue);
-	TelemetrySettingsConnectQueue(priorityQueue);
     
 	// Start telemetry tasks
 	xTaskCreate(telemetryTxTask, (signed char *)"TelTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TX, &telemetryTxTaskHandle);
@@ -117,11 +115,8 @@ int32_t TelemetryStart(void)
  */
 int32_t TelemetryInitialize(void)
 {
-	UAVObjEvent ev;
-    
 	FlightTelemetryStatsInitialize();
 	GCSTelemetryStatsInitialize();
-	TelemetrySettingsInitialize();
 
 	// Initialize vars
 	timeOfLastObjectUpdate = 0;
@@ -132,7 +127,9 @@ int32_t TelemetryInitialize(void)
 	priorityQueue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
 #endif
 
-    // Get telemetry settings object
+	// Update telemetry settings
+	telemetryPort = PIOS_COM_TELEM_RF;
+	HwSettingsInitialize();
 	updateSettings();
     
 	// Initialise UAVTalk
@@ -141,10 +138,10 @@ int32_t TelemetryInitialize(void)
 	// Create periodic event that will be used to update the telemetry stats
 	txErrors = 0;
 	txRetries = 0;
+	UAVObjEvent ev;
 	memset(&ev, 0, sizeof(UAVObjEvent));
 	EventPeriodicQueueCreate(&ev, priorityQueue, STATS_UPDATE_PERIOD_MS);
 
-
 	return 0;
 }
 
@@ -226,8 +223,6 @@ static void processObjEvent(UAVObjEvent * ev)
 		updateTelemetryStats();
 	} else if (ev->obj == GCSTelemetryStatsHandle()) {
 		gcsTelemetryStatsUpdated();
-	} else if (ev->obj == TelemetrySettingsHandle()) {
-		updateSettings();
 	} else {
 		// Only process event if connected to GCS or if object FlightTelemetryStats is updated
 		FlightTelemetryStatsGet(&flightStats);
@@ -509,27 +504,45 @@ static void updateTelemetryStats()
 }
 
 /**
- * Update the telemetry settings, called on startup and
+ * Update the telemetry settings, called on startup.
- * each time the settings object is updated
+ * FIXME: This should be in the TelemetrySettings object. But objects
+ * have too much overhead yet. Also the telemetry has no any specific
+ * settings, etc. Thus the HwSettings object which contains the
+ * telemetry port speed is used for now.
  */
 static void updateSettings()
 {
-    // Set port
+	if (telemetryPort) {
-    telemetryPort = PIOS_COM_TELEM_RF;
 
-    // Retrieve settings
+		// Retrieve settings
-    TelemetrySettingsGet(&settings);
+		uint8_t speed;
+		HwSettingsTelemetrySpeedGet(&speed);
 
-    if (telemetryPort) {
+		// Set port speed
-	// Set port speed
+		switch (speed) {
-	if (settings.Speed == TELEMETRYSETTINGS_SPEED_2400) PIOS_COM_ChangeBaud(telemetryPort, 2400);
+		case HWSETTINGS_TELEMETRYSPEED_2400:
-	else if (settings.Speed == TELEMETRYSETTINGS_SPEED_4800) PIOS_COM_ChangeBaud(telemetryPort, 4800);
+			PIOS_COM_ChangeBaud(telemetryPort, 2400);
-	else if (settings.Speed == TELEMETRYSETTINGS_SPEED_9600) PIOS_COM_ChangeBaud(telemetryPort, 9600);
+			break;
-	else if (settings.Speed == TELEMETRYSETTINGS_SPEED_19200) PIOS_COM_ChangeBaud(telemetryPort, 19200);
+		case HWSETTINGS_TELEMETRYSPEED_4800:
-	else if (settings.Speed == TELEMETRYSETTINGS_SPEED_38400) PIOS_COM_ChangeBaud(telemetryPort, 38400);
+			PIOS_COM_ChangeBaud(telemetryPort, 4800);
-	else if (settings.Speed == TELEMETRYSETTINGS_SPEED_57600) PIOS_COM_ChangeBaud(telemetryPort, 57600);
+			break;
-	else if (settings.Speed == TELEMETRYSETTINGS_SPEED_115200) PIOS_COM_ChangeBaud(telemetryPort, 115200);
+		case HWSETTINGS_TELEMETRYSPEED_9600:
-    }
+			PIOS_COM_ChangeBaud(telemetryPort, 9600);
+			break;
+		case HWSETTINGS_TELEMETRYSPEED_19200:
+			PIOS_COM_ChangeBaud(telemetryPort, 19200);
+			break;
+		case HWSETTINGS_TELEMETRYSPEED_38400:
+			PIOS_COM_ChangeBaud(telemetryPort, 38400);
+			break;
+		case HWSETTINGS_TELEMETRYSPEED_57600:
+			PIOS_COM_ChangeBaud(telemetryPort, 57600);
+			break;
+		case HWSETTINGS_TELEMETRYSPEED_115200:
+			PIOS_COM_ChangeBaud(telemetryPort, 115200);
+			break;
+		}
+	}
 }
 
 /**

flight/OpenPilot/Makefile

@@ -37,6 +37,9 @@ OUTDIR := $(TOP)/build/$(TARGET)
 # Set to YES to compile for debugging
 DEBUG ?= YES
 
+# Include objects that are just nice information to show
+DIAGNOSTICS ?= YES
+
 # Set to YES to use the Servo output pins for debugging via scope or logic analyser
 ENABLE_DEBUG_PINS ?= NO
 
@@ -55,13 +58,16 @@ endif
 
 FLASH_TOOL = OPENOCD
 
+
 # List of modules to include
-MODULES = Actuator Telemetry GPS ManualControl Altitude AHRSComms Stabilization Guidance FirmwareIAP
+OPTMODULES = CameraStab GPS
+MODULES = Actuator ManualControl Altitude AHRSComms Stabilization Guidance FirmwareIAP
 PYMODULES = FlightPlan
 #MODULES = Telemetry Example
 #MODULES = Telemetry MK/MKSerial
 #MODULES = Telemetry
 #MODULES += Osd/OsdEtStd
+MODULES += Telemetry
 
 # Paths
 OPSYSTEM = ./System
@@ -125,6 +131,7 @@ PYSRC += ${foreach MOD, ${PYMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
 SRC += $(PYSRC)
 
 ## MODULES
+SRC += ${foreach MOD, ${OPTMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
 SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
 ## OPENPILOT CORE:
 SRC += ${OPMODULEDIR}/System/systemmod.c
@@ -307,7 +314,7 @@ EXTRAINCDIRS  += $(RTOSSRCDIR)/portable/GCC/ARM_CM3
 EXTRAINCDIRS  += $(AHRSBOOTLOADERINC)
 EXTRAINCDIRS  += $(PYMITEINC)
 
-EXTRAINCDIRS += ${foreach MOD, ${MODULES} ${PYMODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc
+EXTRAINCDIRS += ${foreach MOD, ${OPTMODULES} ${MODULES} ${PYMODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc
 
 
 # List any extra directories to look for library files here.
@@ -385,12 +392,14 @@ CSTANDARD = -std=gnu99
 # Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
 
 ifeq ($(DEBUG),YES)
-CFLAGS = -g$(DEBUGF) -DDEBUG
+CFLAGS = -DDEBUG
 endif
 
-# OP has enough memory to always enable optional objects
+ifeq ($(DIAGNOSTICS),YES)
-CFLAGS += -DDIAGNOSTICS
+CFLAGS = -DDIAGNOSTICS
+endif
 
+CFLAGS += -g$(DEBUGF)
 CFLAGS += -O$(OPT)
 CFLAGS += -mcpu=$(MCU)
 CFLAGS += $(CDEFS)
@@ -472,9 +481,6 @@ endif
 endif
 
 # Generate intermediate code
-gencode: ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h 
-
-$(PYSRC): gencode
 
 # Generate code for PyMite
 ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h: $(wildcard ${PYMITELIB}/*.py) $(wildcard ${PYMITEPLAT}/*.py) $(wildcard ${FLIGHTPLANLIB}/*.py) $(wildcard ${FLIGHTPLANS}/*.py) 
@@ -582,4 +588,4 @@ else
 endif
 
 # Listing of phony targets.
-.PHONY : all build clean clean_list gencode install
+.PHONY : all build clean clean_list install

flight/OpenPilot/Makefile.posix

@@ -27,6 +27,9 @@
 # Set to YES to compile for debugging
 DEBUG ?= YES
 
+# Include objects that are just nice information to show
+DIAGNOSTICS ?= YES
+
 # Set to YES to use the Servo output pins for debugging via scope or logic analyser
 ENABLE_DEBUG_PINS ?= NO
 
@@ -53,10 +56,12 @@ FLASH_TOOL = OPENOCD
 USE_THUMB_MODE = YES
 
 # List of modules to include
-MODULES =  Telemetry Actuator Stabilization Guidance ManualControl FlightPlan GPS
+OPTMODULES = CameraStab GPS
+MODULES =  Telemetry Actuator Stabilization Guidance ManualControl 
 #MODULES =  Telemetry ManualControl Actuator Attitude Stabilization
 #MODULES = Telemetry Example
 #MODULES = Telemetry MK/MKSerial
+PYMODULES = FlightPlan
 
 #MODULES += Osd/OsdEtStd
 
@@ -121,6 +126,7 @@ UAVOBJPYTHONSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/python
 # use file-extension c for "c-only"-files
 
 MODNAMES = $(notdir ${MODULES})
+MODNAMES += $(notdir ${OPTMODULES})
 
 ifndef TESTAPP
 
@@ -129,10 +135,13 @@ SRC += $(OUTDIR)/pmlib_img.c
 SRC += $(OUTDIR)/pmlib_nat.c
 SRC += $(OUTDIR)/pmlibusr_img.c
 SRC += $(OUTDIR)/pmlibusr_nat.c
-SRC += $(wildcard ${PYMITEVM}/*.c)
+PYSRC += $(wildcard ${PYMITEVM}/*.c)
-SRC += $(wildcard ${PYMITEPLAT}/*.c)
+PYSRC += $(wildcard ${PYMITEPLAT}/*.c)
+PYSRC += ${foreach MOD, ${PYMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
+SRC += $(PYSRC)
 
 ## MODULES
+SRC += ${foreach MOD, ${OPTMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
 SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
 SRC += ${OUTDIR}/InitMods.c
 ## OPENPILOT CORE:
@@ -228,7 +237,7 @@ EXTRAINCDIRS  += $(APPLIBDIR)
 EXTRAINCDIRS  += $(RTOSSRCDIR)/portable/GCC/Posix
 EXTRAINCDIRS  += $(PYMITEINC)
 
-EXTRAINCDIRS += ${foreach MOD, ${MODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc
+EXTRAINCDIRS += ${foreach MOD, ${PYMODULES} ${OPTMODULES} ${MODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc
 
 
 # List any extra directories to look for library files here.
@@ -306,6 +315,10 @@ ifeq ($(DEBUG),YES)
 CFLAGS = -g$(DEBUGF) -DDEBUG
 endif
 
+ifeq ($(DIAGNOSTICS),YES)
+CFLAGS = -DDIAGNOSTICS
+endif
+
 CFLAGS += $(CFLAGS_UAVOBJECTS)
 CFLAGS += -DARCH_POSIX
 CFLAGS += -O$(OPT)
@@ -436,9 +449,6 @@ else
 	quote =
 endif
 
-# Generate intermediate code
-gencode: ${OUTDIR}/InitMods.c ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h 
-
 # Generate code for module initialization
 ${OUTDIR}/InitMods.c: Makefile.posix
 	@echo ${MSG_MODINIT}
@@ -453,9 +463,9 @@ ${OUTDIR}/InitMods.c: Makefile.posix
 	@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
 
 # Generate code for PyMite
-${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h: $(wildcard ${PYMITELIB}/*.py) $(wildcard ${PYMITEPLAT}/*.py) $(wildcard ${FLIGHTPLANLIB}/*.py) $(wildcard ${FLIGHTPLANS}/*.py) $(wildcard $(UAVOBJPYTHONSYNTHDIR)/*.py)
+${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h: $(wildcard ${PYMITELIB}/*.py) $(wildcard ${PYMITEPLAT}/*.py) $(wildcard ${FLIGHTPLANLIB}/*.py) $(wildcard ${FLIGHTPLANS}/*.py) 
-	@echo ${MSG_PYMITEINIT}
+	@echo $(MSG_PYMITEINIT) $(call toprel, $@)
-	@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py) $(wildcard $(UAVOBJPYTHONSYNTHDIR)/*.py)
+	@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py)
 	@$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h
 	@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py
 
@@ -651,5 +661,5 @@ endif
 
 # Listing of phony targets.
 .PHONY : all begin finish end sizebefore sizeafter gccversion \
-build elf hex bin lss sym clean clean_list program gencode
+build elf hex bin lss sym clean clean_list program
 

flight/OpenPilot/System/inc/pios_config.h

@@ -78,12 +78,6 @@
 /* Enable a priority queue in telemetry */
 #define PIOS_TELEM_PRIORITY_QUEUE
 
-/* COM Module */
-#define GPS_BAUDRATE			19200
-#define TELEM_BAUDRATE			19200
-#define AUXUART_ENABLED			0
-#define AUXUART_BAUDRATE		19200
-
 /* Alarm Thresholds */
 #define HEAP_LIMIT_WARNING		4000
 #define HEAP_LIMIT_CRITICAL		1000
@@ -98,6 +92,8 @@
 /* GPS options */
 #define PIOS_GPS_SETS_HOMELOCATION
 
+/* PIOS Initcall infrastructure */
+#define PIOS_INCLUDE_INITCALL
 
 #endif /* PIOS_CONFIG_H */
 /**

flight/OpenPilot/System/inc/pios_config_posix.h

@@ -50,15 +50,17 @@
 #define LOG_FILENAME 			"PIOS.LOG"
 #define STARTUP_LOG_ENABLED		1
 
-/* COM Module */
-#define GPS_BAUDRATE			19200
-#define TELEM_BAUDRATE			19200
-#define AUXUART_ENABLED			0
-#define AUXUART_BAUDRATE		19200
-
 #define TELEM_QUEUE_SIZE                20
 #define PIOS_TELEM_STACK_SIZE           2048
 
+/* Alarm Thresholds */
+#define HEAP_LIMIT_WARNING		4000
+#define HEAP_LIMIT_CRITICAL		1000
+#define IRQSTACK_LIMIT_WARNING		150
+#define IRQSTACK_LIMIT_CRITICAL		80
+#define CPULOAD_LIMIT_WARNING		80
+#define CPULOAD_LIMIT_CRITICAL		95
+
 /* Stabilization options */
 #define PIOS_QUATERNION_STABILIZATION
 

flight/OpenPilot/System/pios_board.c

@@ -31,7 +31,7 @@
 #include <openpilot.h>
 #include <uavobjectsinit.h>
 #include <hwsettings.h>
-#include "manualcontrolsettings.h"
+#include <manualcontrolsettings.h>
 
 //#define I2C_DEBUG_PIN			0
 //#define USART_GPS_DEBUG_PIN		1

flight/OpenPilot/System/pios_board_posix.c

@@ -29,6 +29,7 @@
 #include <openpilot.h>
 #include <uavobjectsinit.h>
 
+#include "hwsettings.h"
 #include "attituderaw.h"
 #include "attitudeactual.h"
 #include "positionactual.h"
@@ -187,6 +188,7 @@ void PIOS_Board_Init(void) {
 	AttitudeActualInitialize();
 	VelocityActualInitialize();
 	PositionActualInitialize();
+	HwSettingsInitialize();
 
 }
 

flight/OpenPilot/UAVObjects.inc

@@ -64,7 +64,6 @@ UAVOBJSRCFILENAMES += systemalarms
 UAVOBJSRCFILENAMES += systemsettings
 UAVOBJSRCFILENAMES += systemstats
 UAVOBJSRCFILENAMES += taskinfo
-UAVOBJSRCFILENAMES += telemetrysettings
 UAVOBJSRCFILENAMES += velocityactual
 UAVOBJSRCFILENAMES += velocitydesired
 UAVOBJSRCFILENAMES += watchdogstatus

flight/PiOS/pios.h

@@ -59,7 +59,9 @@
 #endif
 
 /* Generic initcall infrastructure */
+#if defined(PIOS_INCLUDE_INITCALL)
 #include "pios_initcall.h"
+#endif
 
 /* PIOS Board Specific Device Configuration */
 #include "pios_board.h"

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

@@ -102,18 +102,42 @@
       <item>
        <layout class="QHBoxLayout" name="horizontalLayout">
         <item>
-         <widget class="QLabel" name="label">
+         <layout class="QGridLayout" name="gridLayout_2">
-          <property name="text">
+          <item row="0" column="0">
-           <string>Telemetry speed:</string>
+           <widget class="QLabel" name="telemetrySpeedLabel">
-          </property>
+            <property name="text">
-         </widget>
+             <string>Telemetry speed:</string>
-        </item>
+            </property>
-        <item>
+           </widget>
-         <widget class="QComboBox" name="telemetrySpeed">
+          </item>
-          <property name="toolTip">
+          <item row="1" column="0">
-           <string>Select the speed here.</string>
+           <widget class="QLabel" name="GpsSpeedLabel">
-          </property>
+            <property name="minimumSize">
-         </widget>
+             <size>
+              <width>55</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="text">
+             <string>GPS speed:</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="1">
+           <widget class="QComboBox" name="telemetrySpeed">
+            <property name="toolTip">
+             <string>Select the speed here.</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="1">
+           <widget class="QComboBox" name="gpsSpeed">
+            <property name="toolTip">
+             <string>Select the speed here.</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
         </item>
         <item>
          <spacer name="horizontalSpacer_3">
@@ -130,6 +154,19 @@
         </item>
        </layout>
       </item>
+      <item>
+       <spacer name="verticalSpacer">
+        <property name="orientation">
+         <enum>Qt::Vertical</enum>
+        </property>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>20</width>
+          <height>40</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
       <item>
        <widget class="QLabel" name="problems">
         <property name="font">
@@ -149,19 +186,6 @@
         </property>
        </widget>
       </item>
-      <item>
-       <spacer name="verticalSpacer">
-        <property name="orientation">
-         <enum>Qt::Vertical</enum>
-        </property>
-        <property name="sizeHint" stdset="0">
-         <size>
-          <width>20</width>
-          <height>40</height>
-         </size>
-        </property>
-       </spacer>
-      </item>
       <item>
        <widget class="QLabel" name="label_6">
         <property name="font">

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

@@ -41,10 +41,11 @@ ConfigCCHWWidget::ConfigCCHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
     m_telemetry = new Ui_CC_HW_Widget();
     m_telemetry->setupUi(this);
     setupButtons(m_telemetry->saveTelemetryToRAM,m_telemetry->saveTelemetryToSD);
-    addUAVObjectToWidgetRelation("TelemetrySettings","Speed",m_telemetry->telemetrySpeed);
     addUAVObjectToWidgetRelation("HwSettings","CC_FlexiPort",m_telemetry->cbFlexi);
     addUAVObjectToWidgetRelation("HwSettings","CC_MainPort",m_telemetry->cbTele);
     addUAVObjectToWidgetRelation("HwSettings","CC_RcvrPort",m_telemetry->cbRcvr);
+    addUAVObjectToWidgetRelation("HwSettings","TelemetrySpeed",m_telemetry->telemetrySpeed);
+    addUAVObjectToWidgetRelation("HwSettings","GPSSpeed",m_telemetry->gpsSpeed);
     connect(m_telemetry->cchwHelp,SIGNAL(clicked()),this,SLOT(openHelp()));
     enableControls(false);
     populateWidgets();

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

@@ -40,7 +40,7 @@ ConfigProHWWidget::ConfigProHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
     m_telemetry->setupUi(this);
 
     setupButtons(m_telemetry->saveTelemetryToRAM,m_telemetry->saveTelemetryToSD);
-    addUAVObjectToWidgetRelation("TelemetrySettings","Speed",m_telemetry->telemetrySpeed);
+    addUAVObjectToWidgetRelation("HwSettings","TelemetrySpeed",m_telemetry->telemetrySpeed);
     enableControls(false);
     populateWidgets();
     refreshWidgetsValues();

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

@@ -101,7 +101,7 @@ void ConfigCameraStabilizationWidget::applySettings()
     // Enable or disable the settings
     HwSettings * hwSettings = HwSettings::GetInstance(getObjectManager());
     HwSettings::DataFields hwSettingsData = hwSettings->getData();
-    hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_CAMERASTABILIZATION] =
+    hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_CAMERASTAB] =
             m_camerastabilization->enableCameraStabilization->isChecked() ?
                 HwSettings::OPTIONALMODULES_ENABLED :
                 HwSettings::OPTIONALMODULES_DISABLED;
@@ -195,7 +195,7 @@ void ConfigCameraStabilizationWidget::refreshValues()
     HwSettings * hwSettings = HwSettings::GetInstance(getObjectManager());
     HwSettings::DataFields hwSettingsData = hwSettings->getData();
     m_camerastabilization->enableCameraStabilization->setChecked(
-                hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_CAMERASTABILIZATION] ==
+                hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_CAMERASTAB] ==
                 HwSettings::OPTIONALMODULES_ENABLED);
 
     CameraStabSettings * cameraStabSettings = CameraStabSettings::GetInstance(getObjectManager());

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

@@ -36,7 +36,6 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
     $$UAVOBJECT_SYNTHETICS/systemstats.h \
     $$UAVOBJECT_SYNTHETICS/systemalarms.h \
     $$UAVOBJECT_SYNTHETICS/objectpersistence.h \
-    $$UAVOBJECT_SYNTHETICS/telemetrysettings.h \
     $$UAVOBJECT_SYNTHETICS/systemsettings.h \
     $$UAVOBJECT_SYNTHETICS/stabilizationsettings.h \
     $$UAVOBJECT_SYNTHETICS/manualcontrolsettings.h \
@@ -88,7 +87,6 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
     $$UAVOBJECT_SYNTHETICS/systemstats.cpp \
     $$UAVOBJECT_SYNTHETICS/systemalarms.cpp \
     $$UAVOBJECT_SYNTHETICS/objectpersistence.cpp \
-    $$UAVOBJECT_SYNTHETICS/telemetrysettings.cpp \
     $$UAVOBJECT_SYNTHETICS/systemsettings.cpp \
     $$UAVOBJECT_SYNTHETICS/stabilizationsettings.cpp \
     $$UAVOBJECT_SYNTHETICS/manualcontrolsettings.cpp \

shared/uavobjectdefinition/hwsettings.xml

@@ -9,7 +9,10 @@
 		<field name="OP_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry" defaultvalue="Telemetry"/>
 		<field name="OP_FlexiPort" units="function" type="enum" elements="1" options="Disabled,GPS" defaultvalue="GPS"/>
 
-		<field name="OptionalModules" units="" type="enum" elementnames="CameraStabilization,GPS" options="Disabled,Enabled" defaultvalue="Disabled"/>
+		<field name="TelemetrySpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
+		<field name="GPSSpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
+
+		<field name="OptionalModules" units="" type="enum" elementnames="CameraStab,GPS" options="Disabled,Enabled" defaultvalue="Disabled"/>
 		<field name="DSMxBind" units=""  type="uint8"  elements="1" defaultvalue="0"/>
 
 		<access gcs="readwrite" flight="readwrite"/>

shared/uavobjectdefinition/telemetrysettings.xml

@@ -1,10 +0,0 @@
-<xml>
-    <object name="TelemetrySettings" singleinstance="true" settings="true">
-        <description>Select baud rate of telemetry.  Warning - this must match your modem.</description>
-        <field name="Speed" units="" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
-        <access gcs="readwrite" flight="readwrite"/>
-        <telemetrygcs acked="true" updatemode="onchange" period="0"/>
-        <telemetryflight acked="true" updatemode="onchange" period="0"/>
-        <logging updatemode="never" period="0"/>
-    </object>
-</xml>