Merge branch 'next' into rvonlehe/OP-1740_UAV0_GetSetFunctionsTakeEnum

Conflicts:
	flight/modules/PathFollower/inc/vtollandcontroller.h
	flight/modules/PathFollower/vtollandcontroller.cpp
	flight/modules/PathFollower/vtollandfsm.cpp

.gitignore

@@ -2,6 +2,7 @@
 /downloads
 /tools
 /build
+/3rdparty
 
 # Exclude temporary and system files
 Thumbs.db
@@ -11,6 +12,7 @@ GRTAGS
 GSYMS
 GTAGS
 core
+*~
 
 # flight
 /flight/*.pnproj

Makefile

@@ -113,6 +113,9 @@ endif
 # Include tools installers
 include $(ROOT_DIR)/make/tools.mk
 
+# Include third party builders if available
+-include $(ROOT_DIR)/make/3rdparty/3rdparty.mk
+
 # We almost need to consider autoconf/automake instead of this
 ifeq ($(UNAME), Linux)
     QT_SPEC = linux-g++
@@ -160,10 +163,10 @@ DIRS += $(UAVOBJGENERATOR_DIR)
 
 .PHONY: uavobjgenerator
 uavobjgenerator: | $(UAVOBJGENERATOR_DIR)
-	$(V1) ( cd $(UAVOBJGENERATOR_DIR) && \
-	    $(QMAKE) $(ROOT_DIR)/ground/uavobjgenerator/uavobjgenerator.pro -spec $(QT_SPEC) -r CONFIG+="$(UAVOGEN_BUILD_CONF) $(UAVOGEN_SILENT)" && \
-	    $(MAKE) --no-print-directory -w ; \
-	)
+	$(V1) cd $(UAVOBJGENERATOR_DIR) && \
+	    $(QMAKE) $(ROOT_DIR)/ground/uavobjgenerator/uavobjgenerator.pro \
+	    -spec $(QT_SPEC) -r CONFIG+=$(UAVOGEN_BUILD_CONF) CONFIG+=$(UAVOGEN_SILENT) && \
+	    $(MAKE) --no-print-directory -w
 
 UAVOBJ_TARGETS := gcs flight python matlab java wireshark
 
@@ -469,9 +472,9 @@ OPENPILOTGCS_MAKEFILE := $(OPENPILOTGCS_DIR)/Makefile
 
 .PHONY: openpilotgcs_qmake
 openpilotgcs_qmake $(OPENPILOTGCS_MAKEFILE): | $(OPENPILOTGCS_DIR)
-	$(V1) ( cd $(OPENPILOTGCS_DIR) && \
-	    $(QMAKE) $(ROOT_DIR)/ground/openpilotgcs/openpilotgcs.pro -spec $(QT_SPEC) -r CONFIG+="$(GCS_BUILD_CONF) $(GCS_SILENT)" $(GCS_QMAKE_OPTS) \
-	)
+	$(V1) cd $(OPENPILOTGCS_DIR) && \
+	    $(QMAKE) $(ROOT_DIR)/ground/openpilotgcs/openpilotgcs.pro \
+	    -spec $(QT_SPEC) -r CONFIG+=$(GCS_BUILD_CONF) CONFIG+=$(GCS_SILENT) $(GCS_QMAKE_OPTS)
 
 .PHONY: openpilotgcs
 openpilotgcs: uavobjects_gcs $(OPENPILOTGCS_MAKEFILE)
@@ -482,6 +485,8 @@ openpilotgcs_clean:
 	@$(ECHO) " CLEAN      $(call toprel, $(OPENPILOTGCS_DIR))"
 	$(V1) [ ! -d "$(OPENPILOTGCS_DIR)" ] || $(RM) -r "$(OPENPILOTGCS_DIR)"
 
+
+
 ################################
 #
 # Serial Uploader tool
@@ -495,9 +500,9 @@ UPLOADER_MAKEFILE := $(UPLOADER_DIR)/Makefile
 
 .PHONY: uploader_qmake
 uploader_qmake $(UPLOADER_MAKEFILE): | $(UPLOADER_DIR)
-	$(V1) ( cd $(UPLOADER_DIR) && \
-	    $(QMAKE) $(ROOT_DIR)/ground/openpilotgcs/src/experimental/USB_UPLOAD_TOOL/upload.pro -spec $(QT_SPEC) -r CONFIG+="$(GCS_BUILD_CONF) $(GCS_SILENT)" $(GCS_QMAKE_OPTS) \
-	) 
+	$(V1) cd $(UPLOADER_DIR) && \
+	    $(QMAKE) $(ROOT_DIR)/ground/openpilotgcs/src/experimental/USB_UPLOAD_TOOL/upload.pro \
+	    -spec $(QT_SPEC) -r CONFIG+=$(GCS_BUILD_CONF) CONFIG+=$(GCS_SILENT) $(GCS_QMAKE_OPTS)
 
 .PHONY: uploader
 uploader: $(UPLOADER_MAKEFILE)
@@ -711,7 +716,7 @@ $(OPFW_RESOURCE): $(FW_TARGETS) | $(OPGCSSYNTHDIR)
 
 # If opfw_resource or all firmware are requested, GCS should depend on the resource
 ifneq ($(strip $(filter opfw_resource all all_fw all_flight package,$(MAKECMDGOALS))),)
-    $(eval openpilotgcs_qmake: $(OPFW_RESOURCE))
+$(OPENPILOTGCS_MAKEFILE): $(OPFW_RESOURCE)
 endif
 
 # Packaging targets: package

WHATSNEW.txt

@@ -1,3 +1,17 @@
+--- RELEASE-15.02.01 ---
+This release fixes an in important bug that may prevent failsafe to work correctly using CC3D/CC with a PWM receiver.
+
+The full list of bugfixes in this release is accessible here:
+https://progress.openpilot.org/issues/?filter=12260
+
+
+Release Notes - OpenPilot - Version RELEASE-15.02.1
+
+** Bug
+    * [OP-1812] - CC3D : PWM: Does not go into failsafe when RX is pulled under 50% throttle
+
+
+
 --- RELEASE-15.02 --- Ragin' Cajun ---
 This release introduces major flight performance improvements, enhancements as well as bug fixes. Many enhancements have been made to reducing dead-time of the communication between the flight controller and ESCs. In our testing, we have found this to be not only the best flight performance so far in the OpenPilot project but the best flight performance of any project we have tested against. This is a recommended upgrade for everyone and the more skilled of a pilot you are, the more you will love this release.
 

flight/libraries/inc/CoordinateConversions.h

@@ -112,7 +112,7 @@ static inline void matrix_mult_3x3f(float a[3][3], float b[3][3], float result[3
     result[2][2] = a[0][2] * b[2][0] + a[1][2] * b[2][1] + a[2][2] * b[2][2];
 }
 
-inline void matrix_inline_scale_3f(float a[3][3], float scale)
+static inline void matrix_inline_scale_3f(float a[3][3], float scale)
 {
     a[0][0] *= scale;
     a[0][1] *= scale;
@@ -127,7 +127,7 @@ inline void matrix_inline_scale_3f(float a[3][3], float scale)
     a[2][2] *= scale;
 }
 
-inline void rot_about_axis_x(const float rotation, float R[3][3])
+static inline void rot_about_axis_x(const float rotation, float R[3][3])
 {
     float s = sinf(rotation);
     float c = cosf(rotation);
@@ -145,7 +145,7 @@ inline void rot_about_axis_x(const float rotation, float R[3][3])
     R[2][2] = c;
 }
 
-inline void rot_about_axis_y(const float rotation, float R[3][3])
+static inline void rot_about_axis_y(const float rotation, float R[3][3])
 {
     float s = sinf(rotation);
     float c = cosf(rotation);
@@ -163,7 +163,7 @@ inline void rot_about_axis_y(const float rotation, float R[3][3])
     R[2][2] = c;
 }
 
-inline void rot_about_axis_z(const float rotation, float R[3][3])
+static inline void rot_about_axis_z(const float rotation, float R[3][3])
 {
     float s = sinf(rotation);
     float c = cosf(rotation);

flight/libraries/inc/plans.h

@@ -62,6 +62,7 @@ void plan_setup_returnToBase();
  * @brief setup pathplanner/pathfollower for land
  */
 void plan_setup_land();
+void plan_setup_AutoTakeoff();
 
 /**
  * @brief setup pathplanner/pathfollower for braking
@@ -90,6 +91,12 @@ void plan_setup_assistedcontrol(uint8_t timeout_occurred);
 #define PATHDESIRED_MODEPARAMETER_GOTOENDPOINT_UNUSED1            1
 #define PATHDESIRED_MODEPARAMETER_GOTOENDPOINT_UNUSED2            2
 #define PATHDESIRED_MODEPARAMETER_GOTOENDPOINT_UNUSED3            3
+
+#define PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_NORTH               0
+#define PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_EAST                1
+#define PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_DOWN                2
+#define PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_CONTROLSTATE        3
+
 /**
  * @brief setup pathfollower for positionvario
  */
@@ -107,6 +114,7 @@ void plan_run_PositionRoam();
 void plan_run_VelocityRoam();
 void plan_run_HomeLeash();
 void plan_run_AbsolutePosition();
+void plan_run_AutoTakeoff();
 
 /**
  * @brief setup pathplanner/pathfollower for AutoCruise

flight/libraries/inc/stopwatch.h

@@ -47,7 +47,7 @@ typedef struct {
 /////////////////////////////////////////////////////////////////////////////
 
 
-inline int32_t STOPWATCH_Init(uint32_t resolution, stopwatch_t *stopwatch)
+static inline int32_t STOPWATCH_Init(uint32_t resolution, stopwatch_t *stopwatch)
 {
     stopwatch->raw = PIOS_DELAY_GetRaw();
     stopwatch->resolution = resolution;
@@ -58,7 +58,7 @@ inline int32_t STOPWATCH_Init(uint32_t resolution, stopwatch_t *stopwatch)
 // ! Resets the stopwatch
 // ! \return < 0 on errors
 /////////////////////////////////////////////////////////////////////////////
-inline int32_t STOPWATCH_Reset(stopwatch_t *stopwatch)
+static inline int32_t STOPWATCH_Reset(stopwatch_t *stopwatch)
 {
     stopwatch->raw = PIOS_DELAY_GetRaw();
     return 0; // no error
@@ -68,7 +68,7 @@ inline int32_t STOPWATCH_Reset(stopwatch_t *stopwatch)
 // ! Returns current value of stopwatch
 // ! \return stopwatch value
 /////////////////////////////////////////////////////////////////////////////
-inline uint32_t STOPWATCH_ValueGet(stopwatch_t *stopwatch)
+static inline uint32_t STOPWATCH_ValueGet(stopwatch_t *stopwatch)
 {
     uint32_t value = PIOS_DELAY_GetuSSince(stopwatch->raw);
 

flight/libraries/plans.c

@@ -41,7 +41,9 @@
 #include <attitudestate.h>
 #include <vtolpathfollowersettings.h>
 #include <stabilizationbank.h>
+#include <stabilizationdesired.h>
 #include <sin_lookup.h>
+#include <statusvtolautotakeoff.h>
 
 #define UPDATE_EXPECTED 0.02f
 #define UPDATE_MIN      1.0e-6f
@@ -88,6 +90,7 @@ void plan_initialize()
     VelocityStateInitialize();
     VtolPathFollowerSettingsInitialize();
     StabilizationBankInitialize();
+    StabilizationDesiredInitialize();
 }
 
 /**
@@ -166,6 +169,147 @@ void plan_setup_returnToBase()
 }
 
 
+// Vtol AutoTakeoff invocation from flight mode requires the following sequence:
+// 1. Arming must be done whilst in the AutoTakeOff flight mode
+// 2. If the AutoTakeoff flight mode is selected and already armed, requires disarming first
+// 3. Wait for armed state
+// 4. Once the user increases the throttle position to above 50%, then and only then initiate auto-takeoff.
+// 5. Whilst the throttle is < 50% before takeoff, all stick inputs are being ignored.
+// 6. If during the autotakeoff sequence, at any stage, if the throttle stick position reduces to less than 10%, landing is initiated.
+
+static StatusVtolAutoTakeoffControlStateOptions autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORARMED;
+
+#define AUTOTAKEOFF_TO_INCREMENTAL_HEIGHT_MIN 2.0f
+#define AUTOTAKEOFF_TO_INCREMENTAL_HEIGHT_MAX 50.0f
+static void plan_setup_AutoTakeoff_helper(PathDesiredData *pathDesired)
+{
+    PositionStateData positionState;
+
+    PositionStateGet(&positionState);
+    float velocity_down;
+    float autotakeoff_height;
+
+    FlightModeSettingsAutoTakeOffVelocityGet(&velocity_down);
+    FlightModeSettingsAutoTakeOffHeightGet(&autotakeoff_height);
+    autotakeoff_height = fabsf(autotakeoff_height);
+    if (autotakeoff_height < AUTOTAKEOFF_TO_INCREMENTAL_HEIGHT_MIN) {
+        autotakeoff_height = AUTOTAKEOFF_TO_INCREMENTAL_HEIGHT_MIN;
+    } else if (autotakeoff_height > AUTOTAKEOFF_TO_INCREMENTAL_HEIGHT_MAX) {
+        autotakeoff_height = AUTOTAKEOFF_TO_INCREMENTAL_HEIGHT_MAX;
+    }
+
+
+    pathDesired->Start.North = positionState.North;
+    pathDesired->Start.East  = positionState.East;
+    pathDesired->Start.Down  = positionState.Down;
+    pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_NORTH] = 0.0f;
+    pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_EAST]  = 0.0f;
+    pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_DOWN]  = -velocity_down;
+    pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_CONTROLSTATE] = (float)autotakeoffState;
+
+    pathDesired->End.North = positionState.North;
+    pathDesired->End.East  = positionState.East;
+    pathDesired->End.Down  = positionState.Down - autotakeoff_height;
+
+    pathDesired->StartingVelocity = 0.0f;
+    pathDesired->EndingVelocity   = 0.0f;
+    pathDesired->Mode = PATHDESIRED_MODE_AUTOTAKEOFF;
+}
+
+#define AUTOTAKEOFF_INFLIGHT_THROTTLE_CHECK_LIMIT 0.2f
+void plan_setup_AutoTakeoff()
+{
+    autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORARMED;
+    // We only allow takeoff if the state transition of disarmed to armed occurs
+    // whilst in the autotake flight mode
+    FlightStatusData flightStatus;
+    FlightStatusGet(&flightStatus);
+    StabilizationDesiredData stabiDesired;
+    StabilizationDesiredGet(&stabiDesired);
+
+    // Are we inflight?
+    if (flightStatus.Armed && stabiDesired.Thrust > AUTOTAKEOFF_INFLIGHT_THROTTLE_CHECK_LIMIT) {
+        // ok assume already in flight and just enter position hold
+        // if we are not actually inflight this will just be a violent autotakeoff
+        autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_POSITIONHOLD;
+        plan_setup_positionHold();
+    } else {
+        if (flightStatus.Armed) {
+            autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_REQUIREUNARMEDFIRST;
+            // Note that if this mode was invoked unintentionally whilst in flight, effectively
+            // all inputs get ignored and the vtol continues to fly to its previous
+            // stabi command.
+        }
+        PathDesiredData pathDesired;
+        plan_setup_AutoTakeoff_helper(&pathDesired);
+        PathDesiredSet(&pathDesired);
+    }
+}
+
+#define AUTOTAKEOFF_THROTTLE_LIMIT_TO_ALLOW_TAKEOFF_START 0.3f
+#define AUTOTAKEOFF_THROTTLE_ABORT_LIMIT                  0.1f
+void plan_run_AutoTakeoff()
+{
+    StatusVtolAutoTakeoffControlStateOptions priorState = autotakeoffState;
+
+    switch (autotakeoffState) {
+    case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_REQUIREUNARMEDFIRST:
+    {
+        FlightStatusData flightStatus;
+        FlightStatusGet(&flightStatus);
+        if (!flightStatus.Armed) {
+            autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORMIDTHROTTLE;
+        }
+    }
+    break;
+    case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORARMED:
+    {
+        FlightStatusData flightStatus;
+        FlightStatusGet(&flightStatus);
+        if (flightStatus.Armed) {
+            autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORMIDTHROTTLE;
+        }
+    }
+    break;
+    case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORMIDTHROTTLE:
+    {
+        ManualControlCommandData cmd;
+        ManualControlCommandGet(&cmd);
+
+        if (cmd.Throttle > AUTOTAKEOFF_THROTTLE_LIMIT_TO_ALLOW_TAKEOFF_START) {
+            autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_INITIATE;
+        }
+    }
+    break;
+    case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_INITIATE:
+    {
+        ManualControlCommandData cmd;
+        ManualControlCommandGet(&cmd);
+
+        if (cmd.Throttle < AUTOTAKEOFF_THROTTLE_ABORT_LIMIT) {
+            autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_ABORT;
+            plan_setup_land();
+        }
+    }
+    break;
+
+    case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_ABORT:
+    case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_POSITIONHOLD:
+    // nothing to do. land has been requested. stay here for forever until mode change.
+    default:
+        break;
+    }
+
+    if (autotakeoffState != STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_ABORT &&
+        autotakeoffState != STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_POSITIONHOLD) {
+        if (priorState != autotakeoffState) {
+            PathDesiredData pathDesired;
+            plan_setup_AutoTakeoff_helper(&pathDesired);
+            PathDesiredSet(&pathDesired);
+        }
+    }
+}
+
 static void plan_setup_land_helper(PathDesiredData *pathDesired)
 {
     PositionStateData positionState;

flight/libraries/sanitycheck.c

@@ -148,6 +148,7 @@ int32_t configuration_check()
         case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD:
         case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_POSITIONROAM:
         case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_LAND:
+        case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_AUTOTAKEOFF:
             ADDSEVERITY(!coptercontrol);
             ADDSEVERITY(navCapableFusion);
             break;

flight/modules/Battery/battery.c

@@ -138,6 +138,13 @@ static void onTimer(__attribute__((unused)) UAVObjEvent *ev)
     const float dT = SAMPLE_PERIOD_MS / 1000.0f;
     float energyRemaining;
 
+    // Reset ConsumedEnergy counter
+    if (batterySettings.ResetConsumedEnergy) {
+        flightBatteryData.ConsumedEnergy    = 0;
+        batterySettings.ResetConsumedEnergy = false;
+        FlightBatterySettingsSet(&batterySettings);
+    }
+
     // calculate the battery parameters
     if (voltageADCPin >= 0) {
         flightBatteryData.Voltage = (PIOS_ADC_PinGetVolt(voltageADCPin) - batterySettings.SensorCalibrations.VoltageZero) * batterySettings.SensorCalibrations.VoltageFactor; // in Volts

flight/modules/ManualControl/armhandler.c

@@ -35,6 +35,9 @@
 #include <flightstatus.h>
 #include <flightmodesettings.h>
 #include <stabilizationdesired.h>
+#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
+#include <statusvtolland.h>
+#endif
 
 // Private constants
 #define ARMED_THRESHOLD     0.50f
@@ -315,6 +318,9 @@ static bool okToArm(void)
     case FLIGHTSTATUS_FLIGHTMODE_LAND:
         return false;
 
+    case FLIGHTSTATUS_FLIGHTMODE_AUTOTAKEOFF:
+        return true;
+
     default:
         return false;
 
@@ -338,6 +344,19 @@ static bool forcedDisArm(void)
     if (alarms.Receiver == SYSTEMALARMS_ALARM_CRITICAL) {
         return true;
     }
+
+#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
+    // check landing state if active
+    FlightStatusData flightStatus;
+    FlightStatusGet(&flightStatus);
+    if (flightStatus.FlightMode == FLIGHTSTATUS_FLIGHTMODE_LAND) {
+        StatusVtolLandData statusland;
+        StatusVtolLandGet(&statusland);
+        if (statusland.State == STATUSVTOLLAND_STATE_DISARMED) {
+            return true;
+        }
+    }
+#endif
     return false;
 }
 

flight/modules/ManualControl/manualcontrol.c

@@ -403,6 +403,7 @@ static void manualControlTask(void)
     case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
     case FLIGHTSTATUS_FLIGHTMODE_POSITIONROAM:
     case FLIGHTSTATUS_FLIGHTMODE_LAND:
+    case FLIGHTSTATUS_FLIGHTMODE_AUTOTAKEOFF:
         newFlightModeAssist = isAssistedFlightMode(position, newMode, &modeSettings);
         if (newFlightModeAssist) {
             // Set the default thrust state
@@ -527,6 +528,7 @@ static uint8_t isAssistedFlightMode(uint8_t position, uint8_t flightMode, Flight
             thrustMode = FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEVARIO;
             break;
         case FLIGHTSTATUS_FLIGHTMODE_LAND:
+        case FLIGHTSTATUS_FLIGHTMODE_AUTOTAKEOFF:
             thrustMode = FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_CRUISECONTROL;
             break;
 

flight/modules/ManualControl/pathfollowerhandler.c

@@ -101,6 +101,9 @@ void pathFollowerHandler(bool newinit)
                 plan_setup_VelocityRoam();
             }
             break;
+        case FLIGHTSTATUS_FLIGHTMODE_AUTOTAKEOFF:
+            plan_setup_AutoTakeoff();
+            break;
         case FLIGHTSTATUS_FLIGHTMODE_AUTOCRUISE:
             plan_setup_AutoCruise();
             break;
@@ -145,6 +148,9 @@ void pathFollowerHandler(bool newinit)
             plan_run_VelocityRoam();
         }
         break;
+    case FLIGHTSTATUS_FLIGHTMODE_AUTOTAKEOFF:
+        plan_run_AutoTakeoff();
+        break;
     case FLIGHTSTATUS_FLIGHTMODE_AUTOCRUISE:
         plan_run_AutoCruise();
         break;

flight/modules/PathFollower/inc/vtolautotakeoffcontroller.h

@@ -0,0 +1,76 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{
+ * @addtogroup PathFollower CONTROL interface class
+ * @brief vtol land controller class
+ * @{
+ *
+ * @file       vtollandcontroller.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
+ * @brief      Executes CONTROL for landing sequence
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef VTOLAUTOTAKEOFFCONTROLLER_H
+#define VTOLAUTOTAKEOFFCONTROLLER_H
+#include "pathfollowercontrol.h"
+#include "pidcontroldown.h"
+#include "pidcontrolne.h"
+// forward decl
+class VtolAutoTakeoffFSM;
+class VtolAutoTakeoffController : public PathFollowerControl {
+private:
+    static VtolAutoTakeoffController *p_inst;
+    VtolAutoTakeoffController();
+
+
+public:
+    static VtolAutoTakeoffController *instance()
+    {
+        if (!p_inst) {
+            p_inst = new VtolAutoTakeoffController();
+        }
+        return p_inst;
+    }
+
+    int32_t Initialize(VtolPathFollowerSettingsData *vtolPathFollowerSettings);
+
+
+    void Activate(void);
+    void Deactivate(void);
+    void SettingsUpdated(void);
+    void UpdateAutoPilot(void);
+    void ObjectiveUpdated(void);
+    uint8_t IsActive(void);
+    uint8_t Mode(void);
+
+private:
+    void UpdateVelocityDesired(void);
+    int8_t UpdateStabilizationDesired(bool yaw_attitude, float yaw_direction);
+    void setArmedIfChanged(uint8_t val);
+
+    VtolAutoTakeoffFSM *fsm;
+    VtolPathFollowerSettingsData *vtolPathFollowerSettings;
+    PIDControlDown controlDown;
+    PIDControlNE controlNE;
+    uint8_t mActive;
+};
+
+#endif // VTOLAUTOTAKEOFFCONTROLLER_H

flight/modules/PathFollower/inc/vtolautotakeofffsm.h

@@ -0,0 +1,158 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{
+ * @addtogroup PathFollower FSM
+ * @brief Executes landing sequence via an FSM
+ * @{
+ *
+ * @file       vtollandfsm.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
+ * @brief      Executes FSM for landing sequence
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef VTOLAUTOTAKEOFFFSM_H
+#define VTOLAUTOTAKEOFFFSM_H
+
+extern "C" {
+#include "statusvtolautotakeoff.h"
+}
+#include "pathfollowerfsm.h"
+
+// AutoTakeoffing state machine
+typedef enum {
+    AUTOTAKEOFF_STATE_INACTIVE = 0, // Inactive state is the initialised state on startup
+    AUTOTAKEOFF_STATE_CHECKSTATE, // Initial condition checks
+    AUTOTAKEOFF_STATE_SLOWSTART, // Slow start motors
+    AUTOTAKEOFF_STATE_THRUSTUP, // Ramp motors up to neutral thrust
+    AUTOTAKEOFF_STATE_TAKEOFF, // Ascend to target velocity
+    AUTOTAKEOFF_STATE_HOLD, // Hold position as completion of the sequence
+    AUTOTAKEOFF_STATE_THRUSTDOWN, // Thrust down sequence
+    AUTOTAKEOFF_STATE_THRUSTOFF, // Thrust is now off
+    AUTOTAKEOFF_STATE_DISARMED, // Disarmed
+    AUTOTAKEOFF_STATE_ABORT, // Abort on error triggerig fallback to hold
+    AUTOTAKEOFF_STATE_SIZE
+} PathFollowerFSM_AutoTakeoffState_T;
+
+class VtolAutoTakeoffFSM : public PathFollowerFSM {
+private:
+    static VtolAutoTakeoffFSM *p_inst;
+    VtolAutoTakeoffFSM();
+
+public:
+    static VtolAutoTakeoffFSM *instance()
+    {
+        if (!p_inst) {
+            p_inst = new VtolAutoTakeoffFSM();
+        }
+        return p_inst;
+    }
+    int32_t Initialize(VtolPathFollowerSettingsData *vtolPathFollowerSettings,
+                       PathDesiredData *pathDesired,
+                       FlightStatusData *flightStatus);
+    void Inactive(void);
+    void Activate(void);
+    void Update(void);
+    void BoundThrust(float &ulow, float &uhigh);
+    PathFollowerFSMState_T GetCurrentState(void);
+    void ConstrainStabiDesired(StabilizationDesiredData *stabDesired);
+    void Abort(void);
+    uint8_t PositionHoldState(void);
+    void setControlState(StatusVtolAutoTakeoffControlStateOptions controlState);
+
+protected:
+
+    // FSM instance data type
+    typedef struct {
+        StatusVtolAutoTakeoffData fsmAutoTakeoffStatus;
+        PathFollowerFSM_AutoTakeoffState_T currentState;
+        TakeOffLocationData takeOffLocation;
+        uint32_t stateRunCount;
+        uint32_t stateTimeoutCount;
+        float    sum1;
+        float    sum2;
+        float    expectedAutoTakeoffPositionNorth;
+        float    expectedAutoTakeoffPositionEast;
+        float    thrustLimit;
+        float    boundThrustMin;
+        float    boundThrustMax;
+        uint8_t  observationCount;
+        uint8_t  observation2Count;
+        uint8_t  flZeroStabiHorizontal;
+        uint8_t  flConstrainThrust;
+        uint8_t  flLowAltitude;
+        uint8_t  flAltitudeHold;
+    } VtolAutoTakeoffFSMData_T;
+
+    // FSM state structure
+    typedef struct {
+        void(VtolAutoTakeoffFSM::*setup) (void); // Called to initialise the state
+        void(VtolAutoTakeoffFSM::*run) (uint8_t); // Run the event detection code for a state
+    } PathFollowerFSM_AutoTakeoffStateHandler_T;
+
+    // Private variables
+    VtolAutoTakeoffFSMData_T *mAutoTakeoffData;
+    VtolPathFollowerSettingsData *vtolPathFollowerSettings;
+    PathDesiredData *pathDesired;
+    FlightStatusData *flightStatus;
+
+    void setup_inactive(void);
+
+    void setup_checkstate(void);
+
+    void setup_slowstart(void);
+    void run_slowstart(uint8_t);
+
+    void setup_takeoff(void);
+    void run_takeoff(uint8_t);
+
+    void setup_hold(void);
+    void run_hold(uint8_t);
+
+    void setup_thrustup(void);
+    void run_thrustup(uint8_t);
+
+    void setup_thrustdown(void);
+    void run_thrustdown(uint8_t);
+
+    void setup_thrustoff(void);
+    void run_thrustoff(uint8_t);
+
+    void setup_disarmed(void);
+    void run_disarmed(uint8_t);
+
+    void setup_abort(void);
+    void run_abort(uint8_t);
+
+    void initFSM(void);
+    void setState(PathFollowerFSM_AutoTakeoffState_T newState, StatusVtolAutoTakeoffStateExitReasonOptions reason);
+    int32_t runState();
+    int32_t runAlways();
+
+    void updateVtolAutoTakeoffFSMStatus();
+    void assessAltitude(void);
+
+    void setStateTimeout(int32_t count);
+    void fallback_to_hold(void);
+
+    static PathFollowerFSM_AutoTakeoffStateHandler_T sAutoTakeoffStateTable[AUTOTAKEOFF_STATE_SIZE];
+};
+
+#endif // VTOLAUTOTAKEOFFFSM_H

flight/modules/PathFollower/pathfollower.cpp

@@ -81,12 +81,14 @@ extern "C" {
 #include <pidstatus.h>
 #include <homelocation.h>
 #include <accelstate.h>
+#include <statusvtolautotakeoff.h>
 #include <statusvtolland.h>
 #include <statusgrounddrive.h>
 }
 
 #include "pathfollowercontrol.h"
 #include "vtollandcontroller.h"
+#include "vtolautotakeoffcontroller.h"
 #include "vtolvelocitycontroller.h"
 #include "vtolbrakecontroller.h"
 #include "vtolflycontroller.h"
@@ -172,6 +174,7 @@ extern "C" int32_t PathFollowerInitialize()
     PIDStatusInitialize();
     StatusVtolLandInitialize();
     StatusGroundDriveInitialize();
+    StatusVtolAutoTakeoffInitialize();
 
     // VtolLandFSM additional objects
     HomeLocationInitialize();
@@ -206,6 +209,7 @@ void pathFollowerInitializeControllersForFrameType()
     case FRAME_TYPE_HELI:
         if (!multirotor_initialised) {
             VtolLandController::instance()->Initialize(&vtolPathFollowerSettings);
+            VtolAutoTakeoffController::instance()->Initialize(&vtolPathFollowerSettings);
             VtolVelocityController::instance()->Initialize(&vtolPathFollowerSettings);
             VtolFlyController::instance()->Initialize(&vtolPathFollowerSettings);
             VtolBrakeController::instance()->Initialize(&vtolPathFollowerSettings);
@@ -263,6 +267,10 @@ static void pathFollowerSetActiveController(void)
                 activeController = VtolLandController::instance();
                 activeController->Activate();
                 break;
+            case PATHDESIRED_MODE_AUTOTAKEOFF:
+                activeController = VtolAutoTakeoffController::instance();
+                activeController->Activate();
+                break;
             default:
                 activeController = 0;
                 break;

flight/modules/PathFollower/pidcontroldown.cpp

@@ -89,8 +89,7 @@ void PIDControlDown::Activate()
     float currentThrust;
 
     StabilizationDesiredThrustGet(&currentThrust);
-    float u0 = currentThrust - mNeutral;
-    pid2_transfer(&PID, u0);
+    pid2_transfer(&PID, currentThrust);
     mActive = true;
 }
 

flight/modules/PathFollower/pidcontrolne.cpp

@@ -61,11 +61,6 @@ void PIDControlNE::Deactivate()
 
 void PIDControlNE::Activate()
 {
-    // Do we need to initialise any loops for smooth transition
-    // float currentNE;
-    // StabilizationDesiredNEGet(&currentNE);
-    // float u0 = currentNE - mNeutral;
-    // pid2_transfer(&PID, u0);
     mActive = true;
 }
 

flight/modules/PathFollower/vtolautotakeoffcontroller.cpp

@@ -0,0 +1,308 @@
+/*
+ ******************************************************************************
+ *
+ * @file       vtollandcontroller.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
+ * @brief      Vtol landing controller loop
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+extern "C" {
+#include <openpilot.h>
+
+#include <callbackinfo.h>
+
+#include <math.h>
+#include <pid.h>
+#include <CoordinateConversions.h>
+#include <sin_lookup.h>
+#include <pathdesired.h>
+#include <paths.h>
+#include "plans.h"
+#include <sanitycheck.h>
+
+#include <homelocation.h>
+#include <accelstate.h>
+#include <vtolpathfollowersettings.h>
+#include <flightstatus.h>
+#include <flightmodesettings.h>
+#include <pathstatus.h>
+#include <positionstate.h>
+#include <velocitystate.h>
+#include <velocitydesired.h>
+#include <stabilizationdesired.h>
+#include <airspeedstate.h>
+#include <attitudestate.h>
+#include <takeofflocation.h>
+#include <poilocation.h>
+#include <manualcontrolcommand.h>
+#include <systemsettings.h>
+#include <stabilizationbank.h>
+#include <stabilizationdesired.h>
+#include <vtolselftuningstats.h>
+#include <pathsummary.h>
+}
+
+// C++ includes
+#include "vtolautotakeoffcontroller.h"
+#include "pathfollowerfsm.h"
+#include "vtolautotakeofffsm.h"
+#include "pidcontroldown.h"
+
+// Private constants
+
+// pointer to a singleton instance
+VtolAutoTakeoffController *VtolAutoTakeoffController::p_inst = 0;
+
+VtolAutoTakeoffController::VtolAutoTakeoffController()
+    : fsm(0), vtolPathFollowerSettings(0), mActive(false)
+{}
+
+// Called when mode first engaged
+void VtolAutoTakeoffController::Activate(void)
+{
+    if (!mActive) {
+        mActive = true;
+        SettingsUpdated();
+        fsm->Activate();
+        controlDown.Activate();
+        controlNE.Activate();
+    }
+}
+
+uint8_t VtolAutoTakeoffController::IsActive(void)
+{
+    return mActive;
+}
+
+uint8_t VtolAutoTakeoffController::Mode(void)
+{
+    return PATHDESIRED_MODE_AUTOTAKEOFF;
+}
+
+// Objective updated in pathdesired, e.g. same flight mode but new target velocity
+void VtolAutoTakeoffController::ObjectiveUpdated(void)
+{
+    // Set the objective's target velocity
+
+    if (flightStatus->ControlChain.PathPlanner != FLIGHTSTATUS_CONTROLCHAIN_TRUE) {
+        controlDown.UpdateVelocitySetpoint(pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_DOWN]);
+        controlNE.UpdateVelocitySetpoint(pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_NORTH],
+                                         pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_EAST]);
+        controlNE.UpdatePositionSetpoint(pathDesired->End.North, pathDesired->End.East);
+        controlDown.UpdatePositionSetpoint(pathDesired->End.Down);
+        fsm->setControlState((StatusVtolAutoTakeoffControlStateOptions)pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_CONTROLSTATE]);
+    } else {
+        float velocity_down;
+        FlightModeSettingsAutoTakeOffVelocityGet(&velocity_down);
+        controlDown.UpdateVelocitySetpoint(-velocity_down);
+        controlNE.UpdateVelocitySetpoint(0.0f, 0.0f);
+        // pathplanner mode the waypoint provides the final destination including altitude. Takeoff would
+        // often be waypoint 0, in which case the starting location is the current location, and the end location
+        // is the waypoint location which really needs to be the same as the end in north and east. If it is not,
+        // it will fly to that location the during ascent.
+        // Note in pathplanner mode we use the start location which is the current initial location as the
+        // target NE to control.  Takeoff only ascends vertically.
+        controlNE.UpdatePositionSetpoint(pathDesired->Start.North, pathDesired->Start.East);
+        // Sanity check that the end location is at least a reasonable height above the start location in the down direction
+        float autotakeoff_height = pathDesired->Start.Down - pathDesired->End.Down;
+        if (autotakeoff_height < 2.0f) {
+            pathDesired->End.Down = pathDesired->Start.Down - 2.0f;
+        }
+        controlDown.UpdatePositionSetpoint(pathDesired->End.Down); // the altitude is set by the end location.
+        fsm->setControlState(STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_INITIATE);
+    }
+}
+void VtolAutoTakeoffController::Deactivate(void)
+{
+    if (mActive) {
+        mActive = false;
+        fsm->Inactive();
+        controlDown.Deactivate();
+        controlNE.Deactivate();
+    }
+}
+
+// AutoTakeoff Uses different vertical velocity PID.
+void VtolAutoTakeoffController::SettingsUpdated(void)
+{
+    const float dT = vtolPathFollowerSettings->UpdatePeriod / 1000.0f;
+
+    controlNE.UpdateParameters(vtolPathFollowerSettings->HorizontalVelPID.Kp,
+                               vtolPathFollowerSettings->HorizontalVelPID.Ki,
+                               vtolPathFollowerSettings->HorizontalVelPID.Kd,
+                               vtolPathFollowerSettings->HorizontalVelPID.ILimit,
+                               dT,
+                               vtolPathFollowerSettings->HorizontalVelMax);
+
+
+    controlNE.UpdatePositionalParameters(vtolPathFollowerSettings->HorizontalPosP);
+    controlNE.UpdateCommandParameters(-vtolPathFollowerSettings->MaxRollPitch, vtolPathFollowerSettings->MaxRollPitch, vtolPathFollowerSettings->VelocityFeedforward);
+
+    controlDown.UpdateParameters(vtolPathFollowerSettings->AutoTakeoffVerticalVelPID.Kp,
+                                 vtolPathFollowerSettings->AutoTakeoffVerticalVelPID.Ki,
+                                 vtolPathFollowerSettings->AutoTakeoffVerticalVelPID.Kd,
+                                 vtolPathFollowerSettings->AutoTakeoffVerticalVelPID.Beta,
+                                 dT,
+                                 vtolPathFollowerSettings->VerticalVelMax);
+    controlDown.UpdatePositionalParameters(vtolPathFollowerSettings->VerticalPosP);
+    VtolSelfTuningStatsData vtolSelfTuningStats;
+    VtolSelfTuningStatsGet(&vtolSelfTuningStats);
+    controlDown.UpdateNeutralThrust(vtolSelfTuningStats.NeutralThrustOffset + vtolPathFollowerSettings->ThrustLimits.Neutral);
+    controlDown.SetThrustLimits(vtolPathFollowerSettings->ThrustLimits.Min, vtolPathFollowerSettings->ThrustLimits.Max);
+    fsm->SettingsUpdated();
+}
+
+// AutoTakeoff Uses a different FSM to its parent
+int32_t VtolAutoTakeoffController::Initialize(VtolPathFollowerSettingsData *ptr_vtolPathFollowerSettings)
+{
+    PIOS_Assert(ptr_vtolPathFollowerSettings);
+    vtolPathFollowerSettings = ptr_vtolPathFollowerSettings;
+
+    if (fsm == 0) {
+        fsm = VtolAutoTakeoffFSM::instance();
+        VtolAutoTakeoffFSM::instance()->Initialize(vtolPathFollowerSettings, pathDesired, flightStatus);
+        controlDown.Initialize(fsm);
+    }
+    return 0;
+}
+
+
+void VtolAutoTakeoffController::UpdateVelocityDesired()
+{
+    VelocityStateData velocityState;
+
+    VelocityStateGet(&velocityState);
+    VelocityDesiredData velocityDesired;
+    PositionStateData positionState;
+    PositionStateGet(&positionState);
+
+    if (fsm->PositionHoldState()) {
+        controlDown.UpdatePositionState(positionState.Down);
+        controlDown.ControlPosition();
+    }
+
+    controlDown.UpdateVelocityState(velocityState.Down);
+    controlNE.UpdateVelocityState(velocityState.North, velocityState.East);
+
+    controlNE.UpdatePositionState(positionState.North, positionState.East);
+    controlNE.ControlPosition();
+
+    velocityDesired.Down  = controlDown.GetVelocityDesired();
+    float north, east;
+    controlNE.GetVelocityDesired(&north, &east);
+    velocityDesired.North = north;
+    velocityDesired.East  = east;
+
+    // update pathstatus
+    pathStatus->error     = 0.0f;
+    pathStatus->fractional_progress = 0.0f;
+    if (fsm->PositionHoldState()) {
+        pathStatus->fractional_progress = 1.0f;
+        // note if the takeoff waypoint and the launch position are significantly different
+        // the above check might need to expand to assessment of north and east.
+    }
+    pathStatus->path_direction_north = velocityDesired.North;
+    pathStatus->path_direction_east  = velocityDesired.East;
+    pathStatus->path_direction_down  = velocityDesired.Down;
+
+    pathStatus->correction_direction_north = velocityDesired.North - velocityState.North;
+    pathStatus->correction_direction_east  = velocityDesired.East - velocityState.East;
+    pathStatus->correction_direction_down  = velocityDesired.Down - velocityState.Down;
+
+    VelocityDesiredSet(&velocityDesired);
+}
+
+int8_t VtolAutoTakeoffController::UpdateStabilizationDesired(bool yaw_attitude, float yaw_direction)
+{
+    uint8_t result = 1;
+    StabilizationDesiredData stabDesired;
+    AttitudeStateData attitudeState;
+    StabilizationBankData stabSettings;
+    float northCommand;
+    float eastCommand;
+
+    StabilizationDesiredGet(&stabDesired);
+    AttitudeStateGet(&attitudeState);
+    StabilizationBankGet(&stabSettings);
+
+    controlNE.GetNECommand(&northCommand, &eastCommand);
+    stabDesired.Thrust = controlDown.GetDownCommand();
+
+    float angle_radians = DEG2RAD(attitudeState.Yaw);
+    float cos_angle     = cosf(angle_radians);
+    float sine_angle    = sinf(angle_radians);
+    float maxPitch = vtolPathFollowerSettings->MaxRollPitch;
+    stabDesired.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
+    stabDesired.Pitch = boundf(-northCommand * cos_angle - eastCommand * sine_angle, -maxPitch, maxPitch);
+    stabDesired.StabilizationMode.Roll  = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
+    stabDesired.Roll = boundf(-northCommand * sine_angle + eastCommand * cos_angle, -maxPitch, maxPitch);
+
+    ManualControlCommandData manualControl;
+    ManualControlCommandGet(&manualControl);
+
+    if (yaw_attitude) {
+        stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
+        stabDesired.Yaw = yaw_direction;
+    } else {
+        stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
+        stabDesired.Yaw = stabSettings.MaximumRate.Yaw * manualControl.Yaw;
+    }
+
+    // default thrust mode to cruise control
+    stabDesired.StabilizationMode.Thrust = STABILIZATIONDESIRED_STABILIZATIONMODE_CRUISECONTROL;
+
+    fsm->ConstrainStabiDesired(&stabDesired); // excludes thrust
+    StabilizationDesiredSet(&stabDesired);
+
+    return result;
+}
+
+void VtolAutoTakeoffController::UpdateAutoPilot()
+{
+    fsm->Update();
+
+    UpdateVelocityDesired();
+
+    // yaw behaviour is configurable in vtolpathfollower, select yaw control algorithm
+    bool yaw_attitude = true;
+    float yaw = 0.0f;
+
+    fsm->GetYaw(yaw_attitude, yaw);
+
+    int8_t result = UpdateStabilizationDesired(yaw_attitude, yaw);
+
+    if (!result) {
+        fsm->Abort();
+    }
+
+    if (fsm->GetCurrentState() == PFFSM_STATE_DISARMED) {
+        setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED);
+    }
+
+    PathStatusSet(pathStatus);
+}
+
+void VtolAutoTakeoffController::setArmedIfChanged(uint8_t val)
+{
+    if (flightStatus->Armed != val) {
+        flightStatus->Armed = val;
+        FlightStatusSet(flightStatus);
+    }
+}

flight/modules/PathFollower/vtolautotakeofffsm.cpp

@@ -0,0 +1,590 @@
+/*
+ ******************************************************************************
+ *
+ * @file       vtolautotakeofffsm.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
+ * @brief      This autotakeoff state machine is a helper state machine to the
+ *             VtolAutoTakeoffController.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+extern "C" {
+#include <openpilot.h>
+
+#include <callbackinfo.h>
+
+#include <math.h>
+#include <pid.h>
+#include <pathdesired.h>
+#include <paths.h>
+#include "plans.h"
+#include <sanitycheck.h>
+
+#include <homelocation.h>
+#include <accelstate.h>
+#include <vtolpathfollowersettings.h>
+#include <flightstatus.h>
+#include <flightmodesettings.h>
+#include <pathstatus.h>
+#include <positionstate.h>
+#include <velocitystate.h>
+#include <velocitydesired.h>
+#include <stabilizationdesired.h>
+#include <attitudestate.h>
+#include <takeofflocation.h>
+#include <manualcontrolcommand.h>
+#include <systemsettings.h>
+#include <stabilizationbank.h>
+#include <stabilizationdesired.h>
+#include <vtolselftuningstats.h>
+#include <statusvtolautotakeoff.h>
+#include <pathsummary.h>
+}
+
+// C++ includes
+#include <vtolautotakeofffsm.h>
+
+
+// Private constants
+#define TIMER_COUNT_PER_SECOND         (1000 / vtolPathFollowerSettings->UpdatePeriod)
+#define TIMEOUT_SLOWSTART              (2 * TIMER_COUNT_PER_SECOND)
+#define TIMEOUT_THRUSTUP               (1 * TIMER_COUNT_PER_SECOND)
+#define TIMEOUT_THRUSTDOWN             (2 * TIMER_COUNT_PER_SECOND)
+#define AUTOTAKEOFFING_SLOWDOWN_HEIGHT -5.0f
+
+VtolAutoTakeoffFSM::PathFollowerFSM_AutoTakeoffStateHandler_T VtolAutoTakeoffFSM::sAutoTakeoffStateTable[AUTOTAKEOFF_STATE_SIZE] = {
+    [AUTOTAKEOFF_STATE_INACTIVE]   = { .setup = &VtolAutoTakeoffFSM::setup_inactive,   .run = 0                                   },
+    [AUTOTAKEOFF_STATE_CHECKSTATE] = { .setup = &VtolAutoTakeoffFSM::setup_checkstate, .run = 0                                   },
+    [AUTOTAKEOFF_STATE_SLOWSTART]  = { .setup = &VtolAutoTakeoffFSM::setup_slowstart,  .run = &VtolAutoTakeoffFSM::run_slowstart  },
+    [AUTOTAKEOFF_STATE_THRUSTUP]   = { .setup = &VtolAutoTakeoffFSM::setup_thrustup,   .run = &VtolAutoTakeoffFSM::run_thrustup   },
+    [AUTOTAKEOFF_STATE_TAKEOFF]    = { .setup = &VtolAutoTakeoffFSM::setup_takeoff,    .run = &VtolAutoTakeoffFSM::run_takeoff    },
+    [AUTOTAKEOFF_STATE_HOLD] =       { .setup = &VtolAutoTakeoffFSM::setup_hold,       .run = &VtolAutoTakeoffFSM::run_hold       },
+    [AUTOTAKEOFF_STATE_THRUSTDOWN] = { .setup = &VtolAutoTakeoffFSM::setup_thrustdown, .run = &VtolAutoTakeoffFSM::run_thrustdown },
+    [AUTOTAKEOFF_STATE_THRUSTOFF]  = { .setup = &VtolAutoTakeoffFSM::setup_thrustoff,  .run = &VtolAutoTakeoffFSM::run_thrustoff  },
+    [AUTOTAKEOFF_STATE_DISARMED]   = { .setup = &VtolAutoTakeoffFSM::setup_disarmed,   .run = &VtolAutoTakeoffFSM::run_disarmed   },
+    [AUTOTAKEOFF_STATE_ABORT] =      { .setup = &VtolAutoTakeoffFSM::setup_abort,      .run = &VtolAutoTakeoffFSM::run_abort      }
+};
+
+// pointer to a singleton instance
+VtolAutoTakeoffFSM *VtolAutoTakeoffFSM::p_inst = 0;
+
+
+VtolAutoTakeoffFSM::VtolAutoTakeoffFSM()
+    : mAutoTakeoffData(0), vtolPathFollowerSettings(0), pathDesired(0), flightStatus(0)
+{}
+
+// Private types
+
+// Private functions
+// Public API methods
+/**
+ * Initialise the module, called on startup
+ * \returns 0 on success or -1 if initialisation failed
+ */
+int32_t VtolAutoTakeoffFSM::Initialize(VtolPathFollowerSettingsData *ptr_vtolPathFollowerSettings,
+                                       PathDesiredData *ptr_pathDesired,
+                                       FlightStatusData *ptr_flightStatus)
+{
+    PIOS_Assert(ptr_vtolPathFollowerSettings);
+    PIOS_Assert(ptr_pathDesired);
+    PIOS_Assert(ptr_flightStatus);
+
+    if (mAutoTakeoffData == 0) {
+        mAutoTakeoffData = (VtolAutoTakeoffFSMData_T *)pios_malloc(sizeof(VtolAutoTakeoffFSMData_T));
+        PIOS_Assert(mAutoTakeoffData);
+    }
+    memset(mAutoTakeoffData, 0, sizeof(VtolAutoTakeoffFSMData_T));
+    vtolPathFollowerSettings = ptr_vtolPathFollowerSettings;
+    pathDesired  = ptr_pathDesired;
+    flightStatus = ptr_flightStatus;
+    initFSM();
+
+    return 0;
+}
+
+void VtolAutoTakeoffFSM::Inactive(void)
+{
+    memset(mAutoTakeoffData, 0, sizeof(VtolAutoTakeoffFSMData_T));
+    initFSM();
+}
+
+// Initialise the FSM
+void VtolAutoTakeoffFSM::initFSM(void)
+{
+    if (vtolPathFollowerSettings != 0) {
+        setState(AUTOTAKEOFF_STATE_INACTIVE, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
+    } else {
+        mAutoTakeoffData->currentState = AUTOTAKEOFF_STATE_INACTIVE;
+    }
+}
+
+void VtolAutoTakeoffFSM::Activate()
+{
+    memset(mAutoTakeoffData, 0, sizeof(VtolAutoTakeoffFSMData_T));
+    mAutoTakeoffData->currentState   = AUTOTAKEOFF_STATE_INACTIVE;
+    mAutoTakeoffData->flLowAltitude  = true;
+    mAutoTakeoffData->flAltitudeHold = false;
+    mAutoTakeoffData->boundThrustMin = 0.0f;
+    mAutoTakeoffData->boundThrustMax = 0.0f;
+    mAutoTakeoffData->flZeroStabiHorizontal = true; // turn off positional controllers
+    TakeOffLocationGet(&(mAutoTakeoffData->takeOffLocation));
+    mAutoTakeoffData->fsmAutoTakeoffStatus.AltitudeAtState[AUTOTAKEOFF_STATE_INACTIVE] = 0.0f;
+    mAutoTakeoffData->fsmAutoTakeoffStatus.ControlState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORARMED;
+    assessAltitude();
+
+    // Check if we are already flying.  This can happen in pathplanner mode
+    // going into a second loop of the waypoints.
+    StabilizationDesiredData stabDesired;
+    StabilizationDesiredGet(&stabDesired);
+    if (stabDesired.Thrust > vtolPathFollowerSettings->ThrustLimits.Min) {
+        setState(AUTOTAKEOFF_STATE_HOLD, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
+        return;
+    }
+
+    // initially inactive and wait for a change in controlstate.
+    setState(AUTOTAKEOFF_STATE_INACTIVE, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
+}
+
+void VtolAutoTakeoffFSM::Abort(void)
+{
+    setState(AUTOTAKEOFF_STATE_ABORT, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
+}
+
+PathFollowerFSMState_T VtolAutoTakeoffFSM::GetCurrentState(void)
+{
+    switch (mAutoTakeoffData->currentState) {
+    case AUTOTAKEOFF_STATE_INACTIVE:
+        return PFFSM_STATE_INACTIVE;
+
+        break;
+    case AUTOTAKEOFF_STATE_ABORT:
+        return PFFSM_STATE_ABORT;
+
+        break;
+    case AUTOTAKEOFF_STATE_DISARMED:
+        return PFFSM_STATE_DISARMED;
+
+        break;
+    default:
+        return PFFSM_STATE_ACTIVE;
+
+        break;
+    }
+}
+
+void VtolAutoTakeoffFSM::Update()
+{
+    runState();
+    if (GetCurrentState() != PFFSM_STATE_INACTIVE) {
+        runAlways();
+    }
+}
+
+int32_t VtolAutoTakeoffFSM::runState(void)
+{
+    uint8_t flTimeout = false;
+
+    mAutoTakeoffData->stateRunCount++;
+
+    if (mAutoTakeoffData->stateTimeoutCount > 0 && mAutoTakeoffData->stateRunCount > mAutoTakeoffData->stateTimeoutCount) {
+        flTimeout = true;
+    }
+
+    // If the current state has a static function, call it
+    if (sAutoTakeoffStateTable[mAutoTakeoffData->currentState].run) {
+        (this->*sAutoTakeoffStateTable[mAutoTakeoffData->currentState].run)(flTimeout);
+    }
+    return 0;
+}
+
+int32_t VtolAutoTakeoffFSM::runAlways(void)
+{
+    void assessAltitude(void);
+
+    return 0;
+}
+
+// PathFollower implements the PID scheme and has a objective
+// set by a PathDesired object.  Based on the mode, pathfollower
+// uses FSM's as helper functions that manage state and event detection.
+// PathFollower calls into FSM methods to alter its commands.
+
+void VtolAutoTakeoffFSM::BoundThrust(float &ulow, float &uhigh)
+{
+    ulow  = mAutoTakeoffData->boundThrustMin;
+    uhigh = mAutoTakeoffData->boundThrustMax;
+
+
+    if (mAutoTakeoffData->flConstrainThrust) {
+        uhigh = mAutoTakeoffData->thrustLimit;
+    }
+}
+
+void VtolAutoTakeoffFSM::ConstrainStabiDesired(StabilizationDesiredData *stabDesired)
+{
+    if (mAutoTakeoffData->flZeroStabiHorizontal && stabDesired) {
+        stabDesired->Pitch = 0.0f;
+        stabDesired->Roll  = 0.0f;
+        stabDesired->Yaw   = 0.0f;
+    }
+}
+
+// Set the new state and perform setup for subsequent state run calls
+// This is called by state run functions on event detection that drive
+// state transitions.
+void VtolAutoTakeoffFSM::setState(PathFollowerFSM_AutoTakeoffState_T newState, StatusVtolAutoTakeoffStateExitReasonOptions reason)
+{
+    mAutoTakeoffData->fsmAutoTakeoffStatus.StateExitReason[mAutoTakeoffData->currentState] = reason;
+
+    if (mAutoTakeoffData->currentState == newState) {
+        return;
+    }
+    mAutoTakeoffData->currentState = newState;
+
+    if (newState != AUTOTAKEOFF_STATE_INACTIVE) {
+        PositionStateData positionState;
+        PositionStateGet(&positionState);
+        float takeOffDown = 0.0f;
+        if (mAutoTakeoffData->takeOffLocation.Status == TAKEOFFLOCATION_STATUS_VALID) {
+            takeOffDown = mAutoTakeoffData->takeOffLocation.Down;
+        }
+        mAutoTakeoffData->fsmAutoTakeoffStatus.AltitudeAtState[newState] = positionState.Down - takeOffDown;
+        assessAltitude();
+    }
+
+    // Restart state timer counter
+    mAutoTakeoffData->stateRunCount     = 0;
+
+    // Reset state timeout to disabled/zero
+    mAutoTakeoffData->stateTimeoutCount = 0;
+
+    if (sAutoTakeoffStateTable[mAutoTakeoffData->currentState].setup) {
+        (this->*sAutoTakeoffStateTable[mAutoTakeoffData->currentState].setup)();
+    }
+
+    updateVtolAutoTakeoffFSMStatus();
+}
+
+
+// Timeout utility function for use by state init implementations
+void VtolAutoTakeoffFSM::setStateTimeout(int32_t count)
+{
+    mAutoTakeoffData->stateTimeoutCount = count;
+}
+
+void VtolAutoTakeoffFSM::updateVtolAutoTakeoffFSMStatus()
+{
+    mAutoTakeoffData->fsmAutoTakeoffStatus.State = mAutoTakeoffData->currentState;
+    if (mAutoTakeoffData->flLowAltitude) {
+        mAutoTakeoffData->fsmAutoTakeoffStatus.AltitudeState = STATUSVTOLAUTOTAKEOFF_ALTITUDESTATE_LOW;
+    } else {
+        mAutoTakeoffData->fsmAutoTakeoffStatus.AltitudeState = STATUSVTOLAUTOTAKEOFF_ALTITUDESTATE_HIGH;
+    }
+    StatusVtolAutoTakeoffSet(&mAutoTakeoffData->fsmAutoTakeoffStatus);
+}
+
+
+void VtolAutoTakeoffFSM::assessAltitude(void)
+{
+    float positionDown;
+
+    PositionStateDownGet(&positionDown);
+    float takeOffDown = 0.0f;
+    if (mAutoTakeoffData->takeOffLocation.Status == TAKEOFFLOCATION_STATUS_VALID) {
+        takeOffDown = mAutoTakeoffData->takeOffLocation.Down;
+    }
+    float positionDownRelativeToTakeoff = positionDown - takeOffDown;
+    if (positionDownRelativeToTakeoff < AUTOTAKEOFFING_SLOWDOWN_HEIGHT) {
+        mAutoTakeoffData->flLowAltitude = false;
+    } else {
+        mAutoTakeoffData->flLowAltitude = true;
+    }
+}
+
+// Action the required state from plans.c
+void VtolAutoTakeoffFSM::setControlState(StatusVtolAutoTakeoffControlStateOptions controlState)
+{
+    mAutoTakeoffData->fsmAutoTakeoffStatus.ControlState = controlState;
+
+    switch (controlState) {
+    case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORARMED:
+        setState(AUTOTAKEOFF_STATE_INACTIVE, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
+        break;
+    case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORMIDTHROTTLE:
+        setState(AUTOTAKEOFF_STATE_INACTIVE, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
+        break;
+    case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_REQUIREUNARMEDFIRST:
+        setState(AUTOTAKEOFF_STATE_INACTIVE, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
+        break;
+    case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_INITIATE:
+        setState(AUTOTAKEOFF_STATE_CHECKSTATE, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
+        break;
+    case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_POSITIONHOLD:
+        setState(AUTOTAKEOFF_STATE_HOLD, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
+        break;
+    case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_ABORT:
+        setState(AUTOTAKEOFF_STATE_ABORT, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
+        break;
+    }
+}
+
+
+// State: INACTIVE
+void VtolAutoTakeoffFSM::setup_inactive(void)
+{
+    // Re-initialise local variables
+    mAutoTakeoffData->flZeroStabiHorizontal = false;
+    mAutoTakeoffData->flConstrainThrust     = false;
+}
+
+// State: CHECKSTATE
+void VtolAutoTakeoffFSM::setup_checkstate(void)
+{
+    // Assumptions that do not need to be checked if flight mode is AUTOTAKEOFF
+    // 1. Already armed
+    // 2. Not in flight. This was checked in plans.c
+    // 3. User has placed throttle position to more than 50% to allow autotakeoff
+
+    // If pathplanner, we need additional checks
+    // E.g. if inflight, this mode is just positon hol
+    StabilizationDesiredData stabDesired;
+
+    StabilizationDesiredGet(&stabDesired);
+    if (stabDesired.Thrust > vtolPathFollowerSettings->ThrustLimits.Min) {
+        setState(AUTOTAKEOFF_STATE_HOLD, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
+        return;
+    }
+
+
+    // Start from a enforced thrust off condition
+    mAutoTakeoffData->flConstrainThrust = false;
+    mAutoTakeoffData->boundThrustMin    = -0.1f;
+    mAutoTakeoffData->boundThrustMax    = 0.0f;
+
+    setState(AUTOTAKEOFF_STATE_SLOWSTART, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_TIMEOUT);
+}
+
+// STATE: SLOWSTART spools up motors to vtol min over 2 seconds for effect.
+// PID loops may be cumulating I terms but that problem needs to be solved
+#define SLOWSTART_INITIAL_THRUST 0.05f // assumed to be less than vtol min
+void VtolAutoTakeoffFSM::setup_slowstart(void)
+{
+    setStateTimeout(TIMEOUT_SLOWSTART);
+    mAutoTakeoffData->flZeroStabiHorizontal = true; // turn off positional controllers
+    StabilizationDesiredData stabDesired;
+    StabilizationDesiredGet(&stabDesired);
+    float vtol_thrust_min = vtolPathFollowerSettings->ThrustLimits.Min;
+    if (vtol_thrust_min < SLOWSTART_INITIAL_THRUST) {
+        vtol_thrust_min = SLOWSTART_INITIAL_THRUST;
+    }
+    mAutoTakeoffData->sum1 = (vtol_thrust_min - SLOWSTART_INITIAL_THRUST) / (float)TIMEOUT_SLOWSTART;
+    mAutoTakeoffData->sum2 = vtol_thrust_min;
+    mAutoTakeoffData->boundThrustMin = SLOWSTART_INITIAL_THRUST;
+    mAutoTakeoffData->boundThrustMax = SLOWSTART_INITIAL_THRUST;
+    PositionStateData positionState;
+    PositionStateGet(&positionState);
+    mAutoTakeoffData->expectedAutoTakeoffPositionNorth = positionState.North;
+    mAutoTakeoffData->expectedAutoTakeoffPositionEast  = positionState.East;
+}
+
+void VtolAutoTakeoffFSM::run_slowstart(__attribute__((unused)) uint8_t flTimeout)
+{
+    // increase thrust setpoint step by step
+    if (mAutoTakeoffData->boundThrustMin < mAutoTakeoffData->sum2) {
+        mAutoTakeoffData->boundThrustMin += mAutoTakeoffData->sum1;
+    }
+    mAutoTakeoffData->boundThrustMax += mAutoTakeoffData->sum1;
+    if (mAutoTakeoffData->boundThrustMax > mAutoTakeoffData->sum2) {
+        mAutoTakeoffData->boundThrustMax = mAutoTakeoffData->sum2;
+    }
+
+    if (flTimeout) {
+        setState(AUTOTAKEOFF_STATE_THRUSTUP, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_TIMEOUT);
+    }
+}
+
+// STATE: THRUSTUP spools up motors to vtol min over 5 seconds for effect.
+// PID loops may be cumulating I terms but that problem needs to be solved
+#define THRUSTUP_FINAL_THRUST_AS_RATIO_OF_VTOLMAX 0.8f
+void VtolAutoTakeoffFSM::setup_thrustup(void)
+{
+    setStateTimeout(TIMEOUT_THRUSTUP);
+    mAutoTakeoffData->flZeroStabiHorizontal = false;
+    StabilizationDesiredData stabDesired;
+    StabilizationDesiredGet(&stabDesired);
+    mAutoTakeoffData->sum2 = THRUSTUP_FINAL_THRUST_AS_RATIO_OF_VTOLMAX * vtolPathFollowerSettings->ThrustLimits.Max;
+    mAutoTakeoffData->sum1 = (mAutoTakeoffData->sum2 - mAutoTakeoffData->boundThrustMax) / (float)TIMEOUT_THRUSTUP;
+    mAutoTakeoffData->boundThrustMin = vtolPathFollowerSettings->ThrustLimits.Min;
+}
+
+void VtolAutoTakeoffFSM::run_thrustup(__attribute__((unused)) uint8_t flTimeout)
+{
+    // increase thrust setpoint step by step
+    mAutoTakeoffData->boundThrustMax += mAutoTakeoffData->sum1;
+    if (mAutoTakeoffData->boundThrustMax > mAutoTakeoffData->sum2) {
+        mAutoTakeoffData->boundThrustMax = mAutoTakeoffData->sum2;
+    }
+
+    if (flTimeout) {
+        setState(AUTOTAKEOFF_STATE_TAKEOFF, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_TIMEOUT);
+    }
+}
+
+
+// STATE: TAKEOFF
+void VtolAutoTakeoffFSM::setup_takeoff(void)
+{
+    mAutoTakeoffData->flZeroStabiHorizontal = false;
+}
+void VtolAutoTakeoffFSM::run_takeoff(__attribute__((unused)) uint8_t flTimeout)
+{
+    StabilizationDesiredData stabDesired;
+
+    StabilizationDesiredGet(&stabDesired);
+    if (stabDesired.Thrust < 0.0f) {
+        setState(AUTOTAKEOFF_STATE_THRUSTOFF, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_ZEROTHRUST);
+        return;
+    }
+
+    // detect broad sideways drift.
+    PositionStateData positionState;
+    PositionStateGet(&positionState);
+    float north_error   = mAutoTakeoffData->expectedAutoTakeoffPositionNorth - positionState.North;
+    float east_error    = mAutoTakeoffData->expectedAutoTakeoffPositionEast - positionState.East;
+    float down_error    = pathDesired->End.Down - positionState.Down;
+    float positionError = sqrtf(north_error * north_error + east_error * east_error);
+    if (positionError > 3.0f) {
+        setState(AUTOTAKEOFF_STATE_THRUSTDOWN, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_POSITIONERROR);
+        return;
+    }
+    if (fabsf(down_error) < 0.5f) {
+        setState(AUTOTAKEOFF_STATE_HOLD, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_ARRIVEDATALT);
+        return;
+    }
+}
+
+// STATE: HOLD
+void VtolAutoTakeoffFSM::setup_hold(void)
+{
+    mAutoTakeoffData->flZeroStabiHorizontal = false;
+    mAutoTakeoffData->flAltitudeHold = true;
+}
+void VtolAutoTakeoffFSM::run_hold(__attribute__((unused)) uint8_t flTimeout)
+{}
+
+uint8_t VtolAutoTakeoffFSM::PositionHoldState(void)
+{
+    return mAutoTakeoffData->flAltitudeHold;
+}
+
+// STATE: THRUSTDOWN
+void VtolAutoTakeoffFSM::setup_thrustdown(void)
+{
+    setStateTimeout(TIMEOUT_THRUSTDOWN);
+    mAutoTakeoffData->flZeroStabiHorizontal = true;
+    mAutoTakeoffData->flConstrainThrust     = true;
+    StabilizationDesiredData stabDesired;
+    StabilizationDesiredGet(&stabDesired);
+    mAutoTakeoffData->thrustLimit    = stabDesired.Thrust;
+    mAutoTakeoffData->sum1 = stabDesired.Thrust / (float)TIMEOUT_THRUSTDOWN;
+    mAutoTakeoffData->boundThrustMin = -0.1f;
+    mAutoTakeoffData->boundThrustMax = vtolPathFollowerSettings->ThrustLimits.Neutral;
+}
+
+void VtolAutoTakeoffFSM::run_thrustdown(__attribute__((unused)) uint8_t flTimeout)
+{
+    // reduce thrust setpoint step by step
+    mAutoTakeoffData->thrustLimit -= mAutoTakeoffData->sum1;
+
+    StabilizationDesiredData stabDesired;
+    StabilizationDesiredGet(&stabDesired);
+    if (stabDesired.Thrust < 0.0f || mAutoTakeoffData->thrustLimit < 0.0f) {
+        setState(AUTOTAKEOFF_STATE_THRUSTOFF, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_ZEROTHRUST);
+    }
+
+    if (flTimeout) {
+        setState(AUTOTAKEOFF_STATE_THRUSTOFF, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_TIMEOUT);
+    }
+}
+
+// STATE: THRUSTOFF
+void VtolAutoTakeoffFSM::setup_thrustoff(void)
+{
+    mAutoTakeoffData->thrustLimit       = -1.0f;
+    mAutoTakeoffData->flConstrainThrust = true;
+    mAutoTakeoffData->boundThrustMin    = -0.1f;
+    mAutoTakeoffData->boundThrustMax    = 0.0f;
+}
+
+void VtolAutoTakeoffFSM::run_thrustoff(__attribute__((unused)) uint8_t flTimeout)
+{
+    setState(AUTOTAKEOFF_STATE_DISARMED, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
+}
+
+// STATE: DISARMED
+void VtolAutoTakeoffFSM::setup_disarmed(void)
+{
+    // nothing to do
+    mAutoTakeoffData->flConstrainThrust     = false;
+    mAutoTakeoffData->flZeroStabiHorizontal = false;
+    mAutoTakeoffData->observationCount = 0;
+    mAutoTakeoffData->boundThrustMin   = -0.1f;
+    mAutoTakeoffData->boundThrustMax   = 0.0f;
+}
+
+void VtolAutoTakeoffFSM::run_disarmed(__attribute__((unused)) uint8_t flTimeout)
+{
+#ifdef DEBUG_GROUNDIMPACT
+    if (mAutoTakeoffData->observationCount++ > 100) {
+        setState(AUTOTAKEOFF_STATE_WTG_FOR_GROUNDEFFECT, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
+    }
+#endif
+}
+
+void VtolAutoTakeoffFSM::fallback_to_hold(void)
+{
+    PositionStateData positionState;
+
+    PositionStateGet(&positionState);
+    pathDesired->End.North        = positionState.North;
+    pathDesired->End.East         = positionState.East;
+    pathDesired->End.Down         = positionState.Down;
+    pathDesired->Start.North      = positionState.North;
+    pathDesired->Start.East       = positionState.East;
+    pathDesired->Start.Down       = positionState.Down;
+    pathDesired->StartingVelocity = 0.0f;
+    pathDesired->EndingVelocity   = 0.0f;
+    pathDesired->Mode = PATHDESIRED_MODE_GOTOENDPOINT;
+
+    PathDesiredSet(pathDesired);
+}
+
+// abort repeatedly overwrites pathfollower's objective on a landing abort and
+// continues to do so until a flight mode change.
+void VtolAutoTakeoffFSM::setup_abort(void)
+{
+    mAutoTakeoffData->boundThrustMin        = vtolPathFollowerSettings->ThrustLimits.Min;
+    mAutoTakeoffData->boundThrustMax        = vtolPathFollowerSettings->ThrustLimits.Max;
+    mAutoTakeoffData->flConstrainThrust     = false;
+    mAutoTakeoffData->flZeroStabiHorizontal = false;
+    fallback_to_hold();
+}
+
+void VtolAutoTakeoffFSM::run_abort(__attribute__((unused)) uint8_t flTimeout)
+{}

flight/modules/PathFollower/vtollandcontroller.cpp

@@ -1,283 +1,275 @@
-/*
- ******************************************************************************
- *
- * @file       vtollandcontroller.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
- * @brief      Vtol landing controller loop
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-extern "C" {
-#include <openpilot.h>
-
-#include <callbackinfo.h>
-
-#include <math.h>
-#include <pid.h>
-#include <CoordinateConversions.h>
-#include <sin_lookup.h>
-#include <pathdesired.h>
-#include <paths.h>
-#include "plans.h"
-#include <sanitycheck.h>
-
-#include <accelstate.h>
-#include <vtolpathfollowersettings.h>
-#include <flightstatus.h>
-#include <flightmodesettings.h>
-#include <pathstatus.h>
-#include <positionstate.h>
-#include <velocitystate.h>
-#include <velocitydesired.h>
-#include <stabilizationdesired.h>
-#include <attitudestate.h>
-#include <takeofflocation.h>
-#include <manualcontrolcommand.h>
-#include <systemsettings.h>
-#include <stabilizationbank.h>
-#include <stabilizationdesired.h>
-#include <vtolselftuningstats.h>
-#include <pathsummary.h>
-}
-
-// C++ includes
-#include "vtollandcontroller.h"
-#include "pathfollowerfsm.h"
-#include "vtollandfsm.h"
-#include "pidcontroldown.h"
-
-// Private constants
-
-// pointer to a singleton instance
-VtolLandController *VtolLandController::p_inst = 0;
-
-VtolLandController::VtolLandController()
-    : fsm(NULL), vtolPathFollowerSettings(NULL), mActive(false)
-{}
-
-// Called when mode first engaged
-void VtolLandController::Activate(void)
-{
-    if (!mActive) {
-        mActive = true;
-        SettingsUpdated();
-        fsm->Activate();
-        controlDown.Activate();
-        controlNE.Activate();
-    }
-}
-
-uint8_t VtolLandController::IsActive(void)
-{
-    return mActive;
-}
-
-uint8_t VtolLandController::Mode(void)
-{
-    return PATHDESIRED_MODE_LAND;
-}
-
-// Objective updated in pathdesired, e.g. same flight mode but new target velocity
-void VtolLandController::ObjectiveUpdated(void)
-{
-    // Set the objective's target velocity
-    controlDown.UpdateVelocitySetpoint(pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_VELOCITY_VELOCITYVECTOR_DOWN]);
-    controlNE.UpdateVelocitySetpoint(pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_VELOCITY_VELOCITYVECTOR_NORTH],
-                                     pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_VELOCITY_VELOCITYVECTOR_EAST]);
-    controlNE.UpdatePositionSetpoint(pathDesired->End.North, pathDesired->End.East);
-}
-void VtolLandController::Deactivate(void)
-{
-    if (mActive) {
-        mActive = false;
-        fsm->Inactive();
-        controlDown.Deactivate();
-        controlNE.Deactivate();
-    }
-}
-
-
-void VtolLandController::SettingsUpdated(void)
-{
-    const float dT = vtolPathFollowerSettings->UpdatePeriod / 1000.0f;
-
-    controlNE.UpdateParameters(vtolPathFollowerSettings->HorizontalVelPID.Kp,
-                               vtolPathFollowerSettings->HorizontalVelPID.Ki,
-                               vtolPathFollowerSettings->HorizontalVelPID.Kd,
-                               vtolPathFollowerSettings->HorizontalVelPID.ILimit,
-                               dT,
-                               vtolPathFollowerSettings->HorizontalVelMax);
-
-
-    controlNE.UpdatePositionalParameters(vtolPathFollowerSettings->HorizontalPosP);
-    controlNE.UpdateCommandParameters(-vtolPathFollowerSettings->MaxRollPitch, vtolPathFollowerSettings->MaxRollPitch, vtolPathFollowerSettings->VelocityFeedforward);
-
-    controlDown.UpdateParameters(vtolPathFollowerSettings->LandVerticalVelPID.Kp,
-                                 vtolPathFollowerSettings->LandVerticalVelPID.Ki,
-                                 vtolPathFollowerSettings->LandVerticalVelPID.Kd,
-                                 vtolPathFollowerSettings->LandVerticalVelPID.Beta,
-                                 dT,
-                                 vtolPathFollowerSettings->VerticalVelMax);
-
-    // The following is not currently used in the landing control.
-    controlDown.UpdatePositionalParameters(vtolPathFollowerSettings->VerticalPosP);
-
-    VtolSelfTuningStatsData vtolSelfTuningStats;
-    VtolSelfTuningStatsGet(&vtolSelfTuningStats);
-    controlDown.UpdateNeutralThrust(vtolSelfTuningStats.NeutralThrustOffset + vtolPathFollowerSettings->ThrustLimits.Neutral);
-    // initialise limits on thrust but note the FSM can override.
-    controlDown.SetThrustLimits(vtolPathFollowerSettings->ThrustLimits.Min, vtolPathFollowerSettings->ThrustLimits.Max);
-    fsm->SettingsUpdated();
-}
-
-/**
- * Initialise the module, called on startup
- * \returns 0 on success or -1 if initialisation failed
- */
-int32_t VtolLandController::Initialize(VtolPathFollowerSettingsData *ptr_vtolPathFollowerSettings)
-{
-    PIOS_Assert(ptr_vtolPathFollowerSettings);
-    if (fsm == 0) {
-        fsm = (PathFollowerFSM *)VtolLandFSM::instance();
-        VtolLandFSM::instance()->Initialize(ptr_vtolPathFollowerSettings, pathDesired, flightStatus);
-        vtolPathFollowerSettings = ptr_vtolPathFollowerSettings;
-        controlDown.Initialize(fsm);
-    }
-
-    return 0;
-}
-
-
-void VtolLandController::UpdateVelocityDesired()
-{
-    VelocityStateData velocityState;
-
-    VelocityStateGet(&velocityState);
-    VelocityDesiredData velocityDesired;
-
-    controlDown.UpdateVelocityState(velocityState.Down);
-    controlNE.UpdateVelocityState(velocityState.North, velocityState.East);
-
-    // Implement optional horizontal position hold.
-    if (((uint8_t)pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_LAND_OPTIONS]) == PATHDESIRED_MODEPARAMETER_LAND_OPTION_HORIZONTAL_PH) {
-        // landing flight mode has stored original horizontal position in pathdesired
-        PositionStateData positionState;
-        PositionStateGet(&positionState);
-        controlNE.UpdatePositionState(positionState.North, positionState.East);
-        controlNE.ControlPosition();
-    }
-
-    velocityDesired.Down  = controlDown.GetVelocityDesired();
-    float north, east;
-    controlNE.GetVelocityDesired(&north, &east);
-    velocityDesired.North = north;
-    velocityDesired.East  = east;
-
-    // update pathstatus
-    pathStatus->error     = 0.0f;
-    pathStatus->fractional_progress  = 0.0f;
-    pathStatus->path_direction_north = velocityDesired.North;
-    pathStatus->path_direction_east  = velocityDesired.East;
-    pathStatus->path_direction_down  = velocityDesired.Down;
-
-    pathStatus->correction_direction_north = velocityDesired.North - velocityState.North;
-    pathStatus->correction_direction_east  = velocityDesired.East - velocityState.East;
-    pathStatus->correction_direction_down  = velocityDesired.Down - velocityState.Down;
-
-
-    VelocityDesiredSet(&velocityDesired);
-}
-
-int8_t VtolLandController::UpdateStabilizationDesired(bool yaw_attitude, float yaw_direction)
-{
-    uint8_t result = 1;
-    StabilizationDesiredData stabDesired;
-    AttitudeStateData attitudeState;
-    StabilizationBankData stabSettings;
-    float northCommand;
-    float eastCommand;
-
-    StabilizationDesiredGet(&stabDesired);
-    AttitudeStateGet(&attitudeState);
-    StabilizationBankGet(&stabSettings);
-
-    controlNE.GetNECommand(&northCommand, &eastCommand);
-    stabDesired.Thrust = controlDown.GetDownCommand();
-
-    float angle_radians = DEG2RAD(attitudeState.Yaw);
-    float cos_angle     = cosf(angle_radians);
-    float sine_angle    = sinf(angle_radians);
-    float maxPitch = vtolPathFollowerSettings->MaxRollPitch;
-    stabDesired.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
-    stabDesired.Pitch = boundf(-northCommand * cos_angle - eastCommand * sine_angle, -maxPitch, maxPitch);
-    stabDesired.StabilizationMode.Roll  = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
-    stabDesired.Roll = boundf(-northCommand * sine_angle + eastCommand * cos_angle, -maxPitch, maxPitch);
-
-    ManualControlCommandData manualControl;
-    ManualControlCommandGet(&manualControl);
-
-    if (yaw_attitude) {
-        stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
-        stabDesired.Yaw = yaw_direction;
-    } else {
-        stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
-        stabDesired.Yaw = stabSettings.MaximumRate.Yaw * manualControl.Yaw;
-    }
-
-    // default thrust mode to cruise control
-    stabDesired.StabilizationMode.Thrust = STABILIZATIONDESIRED_STABILIZATIONMODE_CRUISECONTROL;
-
-    fsm->ConstrainStabiDesired(&stabDesired); // excludes thrust
-    StabilizationDesiredSet(&stabDesired);
-
-    return result;
-}
-
-void VtolLandController::UpdateAutoPilot()
-{
-    fsm->Update();
-
-    UpdateVelocityDesired();
-
-    // yaw behaviour is configurable in vtolpathfollower, select yaw control algorithm
-    bool yaw_attitude = false;
-    float yaw = 0.0f;
-
-    fsm->GetYaw(yaw_attitude, yaw);
-
-    int8_t result = UpdateStabilizationDesired(yaw_attitude, yaw);
-
-    if (!result) {
-        fsm->Abort();
-    }
-
-    if (fsm->GetCurrentState() == PFFSM_STATE_DISARMED) {
-        setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED);
-    }
-
-    PathStatusSet(pathStatus);
-}
-
-void VtolLandController::setArmedIfChanged(FlightStatusArmedOptions val)
-{
-    if (flightStatus->Armed != val) {
-        flightStatus->Armed = val;
-        FlightStatusSet(flightStatus);
-    }
-}
+/*
+ ******************************************************************************
+ *
+ * @file       vtollandcontroller.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
+ * @brief      Vtol landing controller loop
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+extern "C" {
+#include <openpilot.h>
+
+#include <callbackinfo.h>
+
+#include <math.h>
+#include <pid.h>
+#include <CoordinateConversions.h>
+#include <sin_lookup.h>
+#include <pathdesired.h>
+#include <paths.h>
+#include "plans.h"
+#include <sanitycheck.h>
+
+#include <accelstate.h>
+#include <vtolpathfollowersettings.h>
+#include <flightstatus.h>
+#include <flightmodesettings.h>
+#include <pathstatus.h>
+#include <positionstate.h>
+#include <velocitystate.h>
+#include <velocitydesired.h>
+#include <stabilizationdesired.h>
+#include <attitudestate.h>
+#include <takeofflocation.h>
+#include <manualcontrolcommand.h>
+#include <systemsettings.h>
+#include <stabilizationbank.h>
+#include <stabilizationdesired.h>
+#include <vtolselftuningstats.h>
+#include <pathsummary.h>
+}
+
+// C++ includes
+#include "vtollandcontroller.h"
+#include "pathfollowerfsm.h"
+#include "vtollandfsm.h"
+#include "pidcontroldown.h"
+
+// Private constants
+
+// pointer to a singleton instance
+VtolLandController *VtolLandController::p_inst = 0;
+
+VtolLandController::VtolLandController()
+    : fsm(NULL), vtolPathFollowerSettings(NULL), mActive(false)
+{}
+
+// Called when mode first engaged
+void VtolLandController::Activate(void)
+{
+    if (!mActive) {
+        mActive = true;
+        SettingsUpdated();
+        fsm->Activate();
+        controlDown.Activate();
+        controlNE.Activate();
+    }
+}
+
+uint8_t VtolLandController::IsActive(void)
+{
+    return mActive;
+}
+
+uint8_t VtolLandController::Mode(void)
+{
+    return PATHDESIRED_MODE_LAND;
+}
+
+// Objective updated in pathdesired, e.g. same flight mode but new target velocity
+void VtolLandController::ObjectiveUpdated(void)
+{
+    // Set the objective's target velocity
+    controlDown.UpdateVelocitySetpoint(pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_VELOCITY_VELOCITYVECTOR_DOWN]);
+    controlNE.UpdateVelocitySetpoint(pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_VELOCITY_VELOCITYVECTOR_NORTH],
+                                     pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_VELOCITY_VELOCITYVECTOR_EAST]);
+    controlNE.UpdatePositionSetpoint(pathDesired->End.North, pathDesired->End.East);
+}
+void VtolLandController::Deactivate(void)
+{
+    if (mActive) {
+        mActive = false;
+        fsm->Inactive();
+        controlDown.Deactivate();
+        controlNE.Deactivate();
+    }
+}
+
+
+void VtolLandController::SettingsUpdated(void)
+{
+    const float dT = vtolPathFollowerSettings->UpdatePeriod / 1000.0f;
+
+    controlNE.UpdateParameters(vtolPathFollowerSettings->HorizontalVelPID.Kp,
+                               vtolPathFollowerSettings->HorizontalVelPID.Ki,
+                               vtolPathFollowerSettings->HorizontalVelPID.Kd,
+                               vtolPathFollowerSettings->HorizontalVelPID.ILimit,
+                               dT,
+                               vtolPathFollowerSettings->HorizontalVelMax);
+
+
+    controlNE.UpdatePositionalParameters(vtolPathFollowerSettings->HorizontalPosP);
+    controlNE.UpdateCommandParameters(-vtolPathFollowerSettings->MaxRollPitch, vtolPathFollowerSettings->MaxRollPitch, vtolPathFollowerSettings->VelocityFeedforward);
+
+    controlDown.UpdateParameters(vtolPathFollowerSettings->LandVerticalVelPID.Kp,
+                                 vtolPathFollowerSettings->LandVerticalVelPID.Ki,
+                                 vtolPathFollowerSettings->LandVerticalVelPID.Kd,
+                                 vtolPathFollowerSettings->LandVerticalVelPID.Beta,
+                                 dT,
+                                 vtolPathFollowerSettings->VerticalVelMax);
+
+    // The following is not currently used in the landing control.
+    controlDown.UpdatePositionalParameters(vtolPathFollowerSettings->VerticalPosP);
+
+    VtolSelfTuningStatsData vtolSelfTuningStats;
+    VtolSelfTuningStatsGet(&vtolSelfTuningStats);
+    controlDown.UpdateNeutralThrust(vtolSelfTuningStats.NeutralThrustOffset + vtolPathFollowerSettings->ThrustLimits.Neutral);
+    // initialise limits on thrust but note the FSM can override.
+    controlDown.SetThrustLimits(vtolPathFollowerSettings->ThrustLimits.Min, vtolPathFollowerSettings->ThrustLimits.Max);
+    fsm->SettingsUpdated();
+}
+
+/**
+ * Initialise the module, called on startup
+ * \returns 0 on success or -1 if initialisation failed
+ */
+int32_t VtolLandController::Initialize(VtolPathFollowerSettingsData *ptr_vtolPathFollowerSettings)
+{
+    PIOS_Assert(ptr_vtolPathFollowerSettings);
+    if (fsm == 0) {
+        fsm = (PathFollowerFSM *)VtolLandFSM::instance();
+        VtolLandFSM::instance()->Initialize(ptr_vtolPathFollowerSettings, pathDesired, flightStatus);
+        vtolPathFollowerSettings = ptr_vtolPathFollowerSettings;
+        controlDown.Initialize(fsm);
+    }
+
+    return 0;
+}
+
+
+void VtolLandController::UpdateVelocityDesired()
+{
+    VelocityStateData velocityState;
+
+    VelocityStateGet(&velocityState);
+    VelocityDesiredData velocityDesired;
+
+    controlDown.UpdateVelocityState(velocityState.Down);
+    controlNE.UpdateVelocityState(velocityState.North, velocityState.East);
+
+    // Implement optional horizontal position hold.
+    if ((((uint8_t)pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_LAND_OPTIONS]) == PATHDESIRED_MODEPARAMETER_LAND_OPTION_HORIZONTAL_PH) ||
+        (flightStatus->ControlChain.PathPlanner == FLIGHTSTATUS_CONTROLCHAIN_TRUE)) {
+        // landing flight mode has stored original horizontal position in pathdesired
+        PositionStateData positionState;
+        PositionStateGet(&positionState);
+        controlNE.UpdatePositionState(positionState.North, positionState.East);
+        controlNE.ControlPosition();
+    }
+
+    velocityDesired.Down  = controlDown.GetVelocityDesired();
+    float north, east;
+    controlNE.GetVelocityDesired(&north, &east);
+    velocityDesired.North = north;
+    velocityDesired.East  = east;
+
+    // update pathstatus
+    pathStatus->error     = 0.0f;
+    pathStatus->fractional_progress = 0.0f;
+    if (fsm->GetCurrentState() == PFFSM_STATE_DISARMED) {
+        pathStatus->fractional_progress = 1.0f;
+    }
+    pathStatus->path_direction_north = velocityDesired.North;
+    pathStatus->path_direction_east  = velocityDesired.East;
+    pathStatus->path_direction_down  = velocityDesired.Down;
+
+    pathStatus->correction_direction_north = velocityDesired.North - velocityState.North;
+    pathStatus->correction_direction_east  = velocityDesired.East - velocityState.East;
+    pathStatus->correction_direction_down  = velocityDesired.Down - velocityState.Down;
+
+
+    VelocityDesiredSet(&velocityDesired);
+}
+
+int8_t VtolLandController::UpdateStabilizationDesired(bool yaw_attitude, float yaw_direction)
+{
+    uint8_t result = 1;
+    StabilizationDesiredData stabDesired;
+    AttitudeStateData attitudeState;
+    StabilizationBankData stabSettings;
+    float northCommand;
+    float eastCommand;
+
+    StabilizationDesiredGet(&stabDesired);
+    AttitudeStateGet(&attitudeState);
+    StabilizationBankGet(&stabSettings);
+
+    controlNE.GetNECommand(&northCommand, &eastCommand);
+    stabDesired.Thrust = controlDown.GetDownCommand();
+
+    float angle_radians = DEG2RAD(attitudeState.Yaw);
+    float cos_angle     = cosf(angle_radians);
+    float sine_angle    = sinf(angle_radians);
+    float maxPitch = vtolPathFollowerSettings->MaxRollPitch;
+    stabDesired.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
+    stabDesired.Pitch = boundf(-northCommand * cos_angle - eastCommand * sine_angle, -maxPitch, maxPitch);
+    stabDesired.StabilizationMode.Roll  = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
+    stabDesired.Roll = boundf(-northCommand * sine_angle + eastCommand * cos_angle, -maxPitch, maxPitch);
+
+    ManualControlCommandData manualControl;
+    ManualControlCommandGet(&manualControl);
+
+    if (yaw_attitude) {
+        stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
+        stabDesired.Yaw = yaw_direction;
+    } else {
+        stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
+        stabDesired.Yaw = stabSettings.MaximumRate.Yaw * manualControl.Yaw;
+    }
+
+    // default thrust mode to cruise control
+    stabDesired.StabilizationMode.Thrust = STABILIZATIONDESIRED_STABILIZATIONMODE_CRUISECONTROL;
+
+    fsm->ConstrainStabiDesired(&stabDesired); // excludes thrust
+    StabilizationDesiredSet(&stabDesired);
+
+    return result;
+}
+
+void VtolLandController::UpdateAutoPilot()
+{
+    fsm->Update();
+
+    UpdateVelocityDesired();
+
+    // yaw behaviour is configurable in vtolpathfollower, select yaw control algorithm
+    bool yaw_attitude = false;
+    float yaw = 0.0f;
+
+    fsm->GetYaw(yaw_attitude, yaw);
+
+    int8_t result = UpdateStabilizationDesired(yaw_attitude, yaw);
+
+    if (!result) {
+        fsm->Abort();
+    }
+
+    PathStatusSet(pathStatus);
+}

flight/modules/PathFollower/vtollandfsm.cpp

@@ -1,703 +1,701 @@
-/*
- ******************************************************************************
- *
- * @file       vtollandfsm.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
- * @brief      This landing state machine is a helper state machine to the
- *             VtolLandController.
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-extern "C" {
-#include <openpilot.h>
-
-#include <callbackinfo.h>
-
-#include <math.h>
-#include <pid.h>
-#include <CoordinateConversions.h>
-#include <sin_lookup.h>
-#include <pathdesired.h>
-#include <paths.h>
-#include "plans.h"
-#include <sanitycheck.h>
-
-#include <homelocation.h>
-#include <accelstate.h>
-#include <fixedwingpathfollowersettings.h>
-#include <fixedwingpathfollowerstatus.h>
-#include <vtolpathfollowersettings.h>
-#include <flightstatus.h>
-#include <flightmodesettings.h>
-#include <pathstatus.h>
-#include <positionstate.h>
-#include <velocitystate.h>
-#include <velocitydesired.h>
-#include <stabilizationdesired.h>
-#include <airspeedstate.h>
-#include <attitudestate.h>
-#include <takeofflocation.h>
-#include <poilocation.h>
-#include <manualcontrolcommand.h>
-#include <systemsettings.h>
-#include <stabilizationbank.h>
-#include <stabilizationdesired.h>
-#include <vtolselftuningstats.h>
-#include <statusvtolland.h>
-#include <pathsummary.h>
-}
-
-// C++ includes
-#include <vtollandfsm.h>
-
-
-// Private constants
-#define TIMER_COUNT_PER_SECOND            (1000 / vtolPathFollowerSettings->UpdatePeriod)
-#define MIN_LANDRATE                      0.1f
-#define MAX_LANDRATE                      0.6f
-#define LOW_ALT_DESCENT_REDUCTION_FACTOR  0.7f  // TODO Need to make the transition smooth
-#define LANDRATE_LOWLIMIT_FACTOR          0.5f
-#define LANDRATE_HILIMIT_FACTOR           1.5f
-#define TIMEOUT_INIT_ALTHOLD              (3 * TIMER_COUNT_PER_SECOND)
-#define TIMEOUT_WTG_FOR_DESCENTRATE       (10 * TIMER_COUNT_PER_SECOND)
-#define WTG_FOR_DESCENTRATE_COUNT_LIMIT   10
-#define TIMEOUT_AT_DESCENTRATE            10
-#define TIMEOUT_GROUNDEFFECT              (1 * TIMER_COUNT_PER_SECOND)
-#define TIMEOUT_THRUSTDOWN                (2 * TIMER_COUNT_PER_SECOND)
-#define LANDING_PID_SCALAR_P              2.0f
-#define LANDING_PID_SCALAR_I              10.0f
-#define LANDING_SLOWDOWN_HEIGHT           -5.0f
-#define BOUNCE_VELOCITY_TRIGGER_LIMIT     -0.3f
-#define BOUNCE_ACCELERATION_TRIGGER_LIMIT -6.0f
-#define BOUNCE_TRIGGER_COUNT              4
-#define GROUNDEFFECT_SLOWDOWN_FACTOR      0.3f
-#define GROUNDEFFECT_SLOWDOWN_COUNT       4
-
-VtolLandFSM::PathFollowerFSM_LandStateHandler_T VtolLandFSM::sLandStateTable[LAND_STATE_SIZE] = {
-    [LAND_STATE_INACTIVE]       =       { .setup = &VtolLandFSM::setup_inactive,             .run = 0                                      },
-    [LAND_STATE_INIT_ALTHOLD]   =       { .setup = &VtolLandFSM::setup_init_althold,         .run = &VtolLandFSM::run_init_althold         },
-    [LAND_STATE_WTG_FOR_DESCENTRATE] =  { .setup = &VtolLandFSM::setup_wtg_for_descentrate,  .run = &VtolLandFSM::run_wtg_for_descentrate  },
-    [LAND_STATE_AT_DESCENTRATE] =       { .setup = &VtolLandFSM::setup_at_descentrate,       .run = &VtolLandFSM::run_at_descentrate       },
-    [LAND_STATE_WTG_FOR_GROUNDEFFECT] = { .setup = &VtolLandFSM::setup_wtg_for_groundeffect, .run = &VtolLandFSM::run_wtg_for_groundeffect },
-    [LAND_STATE_GROUNDEFFECT]   =       { .setup = &VtolLandFSM::setup_groundeffect,         .run = &VtolLandFSM::run_groundeffect         },
-    [LAND_STATE_THRUSTDOWN]     =       { .setup = &VtolLandFSM::setup_thrustdown,           .run = &VtolLandFSM::run_thrustdown           },
-    [LAND_STATE_THRUSTOFF]      =       { .setup = &VtolLandFSM::setup_thrustoff,            .run = &VtolLandFSM::run_thrustoff            },
-    [LAND_STATE_DISARMED]       =       { .setup = &VtolLandFSM::setup_disarmed,             .run = &VtolLandFSM::run_disarmed             },
-    [LAND_STATE_ABORT] =                { .setup = &VtolLandFSM::setup_abort,                .run = &VtolLandFSM::run_abort                }
-};
-
-// pointer to a singleton instance
-VtolLandFSM *VtolLandFSM::p_inst = 0;
-
-
-VtolLandFSM::VtolLandFSM()
-    : mLandData(0), vtolPathFollowerSettings(0), pathDesired(0), flightStatus(0)
-{}
-
-// Private types
-
-// Private functions
-// Public API methods
-/**
- * Initialise the module, called on startup
- * \returns 0 on success or -1 if initialisation failed
- */
-int32_t VtolLandFSM::Initialize(VtolPathFollowerSettingsData *ptr_vtolPathFollowerSettings,
-                                PathDesiredData *ptr_pathDesired,
-                                FlightStatusData *ptr_flightStatus)
-{
-    PIOS_Assert(ptr_vtolPathFollowerSettings);
-    PIOS_Assert(ptr_pathDesired);
-    PIOS_Assert(ptr_flightStatus);
-
-    if (mLandData == 0) {
-        mLandData = (VtolLandFSMData_T *)pios_malloc(sizeof(VtolLandFSMData_T));
-        PIOS_Assert(mLandData);
-    }
-    memset(mLandData, 0, sizeof(VtolLandFSMData_T));
-    vtolPathFollowerSettings = ptr_vtolPathFollowerSettings;
-    pathDesired  = ptr_pathDesired;
-    flightStatus = ptr_flightStatus;
-    initFSM();
-
-    return 0;
-}
-
-void VtolLandFSM::Inactive(void)
-{
-    memset(mLandData, 0, sizeof(VtolLandFSMData_T));
-    initFSM();
-}
-
-// Initialise the FSM
-void VtolLandFSM::initFSM(void)
-{
-    if (vtolPathFollowerSettings != 0) {
-        setState(STATUSVTOLLAND_STATE_INACTIVE, STATUSVTOLLAND_STATEEXITREASON_NONE);
-    } else {
-        mLandData->currentState = STATUSVTOLLAND_STATE_INACTIVE;
-    }
-}
-
-void VtolLandFSM::Activate()
-{
-    memset(mLandData, 0, sizeof(VtolLandFSMData_T));
-    mLandData->currentState   = STATUSVTOLLAND_STATE_INACTIVE;
-    mLandData->flLowAltitude  = false;
-    mLandData->flAltitudeHold = false;
-    mLandData->fsmLandStatus.averageDescentRate      = MIN_LANDRATE;
-    mLandData->fsmLandStatus.averageDescentThrust    = vtolPathFollowerSettings->ThrustLimits.Neutral;
-    mLandData->fsmLandStatus.calculatedNeutralThrust = vtolPathFollowerSettings->ThrustLimits.Neutral;
-    mLandData->boundThrustMin = vtolPathFollowerSettings->ThrustLimits.Min;
-    mLandData->boundThrustMax = vtolPathFollowerSettings->ThrustLimits.Max;
-    TakeOffLocationGet(&(mLandData->takeOffLocation));
-    mLandData->fsmLandStatus.AltitudeAtState[STATUSVTOLLAND_STATE_INACTIVE] = 0.0f;
-    assessAltitude();
-
-    if (pathDesired->Mode == PATHDESIRED_MODE_LAND) {
-#ifndef DEBUG_GROUNDIMPACT
-        setState(STATUSVTOLLAND_STATE_INITALTHOLD, STATUSVTOLLAND_STATEEXITREASON_NONE);
-#else
-        setState(STATUSVTOLLAND_STATE_WTGFORGROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_NONE);
-#endif
-    } else {
-        // move to error state and callback to position hold
-        setState(STATUSVTOLLAND_STATE_ABORT, STATUSVTOLLAND_STATEEXITREASON_NONE);
-    }
-}
-
-void VtolLandFSM::Abort(void)
-{
-    setState(STATUSVTOLLAND_STATE_ABORT, STATUSVTOLLAND_STATEEXITREASON_NONE);
-}
-
-PathFollowerFSMState_T VtolLandFSM::GetCurrentState(void)
-{
-    switch (mLandData->currentState) {
-    case STATUSVTOLLAND_STATE_INACTIVE:
-        return PFFSM_STATE_INACTIVE;
-
-        break;
-    case STATUSVTOLLAND_STATE_ABORT:
-        return PFFSM_STATE_ABORT;
-
-        break;
-    case STATUSVTOLLAND_STATE_DISARMED:
-        return PFFSM_STATE_DISARMED;
-
-        break;
-    default:
-        return PFFSM_STATE_ACTIVE;
-
-        break;
-    }
-}
-
-void VtolLandFSM::Update()
-{
-    runState();
-    if (GetCurrentState() != PFFSM_STATE_INACTIVE) {
-        runAlways();
-    }
-}
-
-int32_t VtolLandFSM::runState(void)
-{
-    uint8_t flTimeout = false;
-
-    mLandData->stateRunCount++;
-
-    if (mLandData->stateTimeoutCount > 0 && mLandData->stateRunCount > mLandData->stateTimeoutCount) {
-        flTimeout = true;
-    }
-
-    // If the current state has a static function, call it
-    if (sLandStateTable[mLandData->currentState].run) {
-        (this->*sLandStateTable[mLandData->currentState].run)(flTimeout);
-    }
-    return 0;
-}
-
-int32_t VtolLandFSM::runAlways(void)
-{
-    void assessAltitude(void);
-
-    return 0;
-}
-
-// PathFollower implements the PID scheme and has a objective
-// set by a PathDesired object.  Based on the mode, pathfollower
-// uses FSM's as helper functions that manage state and event detection.
-// PathFollower calls into FSM methods to alter its commands.
-
-void VtolLandFSM::BoundThrust(float &ulow, float &uhigh)
-{
-    ulow  = mLandData->boundThrustMin;
-    uhigh = mLandData->boundThrustMax;
-
-
-    if (mLandData->flConstrainThrust) {
-        uhigh = mLandData->thrustLimit;
-    }
-}
-
-void VtolLandFSM::ConstrainStabiDesired(StabilizationDesiredData *stabDesired)
-{
-    if (mLandData->flZeroStabiHorizontal && stabDesired) {
-        stabDesired->Pitch = 0.0f;
-        stabDesired->Roll  = 0.0f;
-        stabDesired->Yaw   = 0.0f;
-    }
-}
-
-void VtolLandFSM::CheckPidScaler(pid_scaler *local_scaler)
-{
-    if (mLandData->flLowAltitude) {
-        local_scaler->p = LANDING_PID_SCALAR_P;
-        local_scaler->i = LANDING_PID_SCALAR_I;
-    }
-}
-
-
-// Set the new state and perform setup for subsequent state run calls
-// This is called by state run functions on event detection that drive
-// state transitions.
-void VtolLandFSM::setState(StatusVtolLandStateOptions newState, StatusVtolLandStateExitReasonOptions reason)
-{
-    mLandData->fsmLandStatus.StateExitReason[mLandData->currentState] = reason;
-
-    if (mLandData->currentState == newState) {
-        return;
-    }
-    mLandData->currentState = newState;
-
-    if (newState != STATUSVTOLLAND_STATE_INACTIVE) {
-        PositionStateData positionState;
-        PositionStateGet(&positionState);
-        float takeOffDown = 0.0f;
-        if (mLandData->takeOffLocation.Status == TAKEOFFLOCATION_STATUS_VALID) {
-            takeOffDown = mLandData->takeOffLocation.Down;
-        }
-        mLandData->fsmLandStatus.AltitudeAtState[newState] = positionState.Down - takeOffDown;
-        assessAltitude();
-    }
-
-    // Restart state timer counter
-    mLandData->stateRunCount     = 0;
-
-    // Reset state timeout to disabled/zero
-    mLandData->stateTimeoutCount = 0;
-
-    if (sLandStateTable[mLandData->currentState].setup) {
-        (this->*sLandStateTable[mLandData->currentState].setup)();
-    }
-
-    updateVtolLandFSMStatus();
-}
-
-
-// Timeout utility function for use by state init implementations
-void VtolLandFSM::setStateTimeout(int32_t count)
-{
-    mLandData->stateTimeoutCount = count;
-}
-
-void VtolLandFSM::updateVtolLandFSMStatus()
-{
-    mLandData->fsmLandStatus.State = mLandData->currentState;
-    if (mLandData->flLowAltitude) {
-        mLandData->fsmLandStatus.AltitudeState = STATUSVTOLLAND_ALTITUDESTATE_LOW;
-    } else {
-        mLandData->fsmLandStatus.AltitudeState = STATUSVTOLLAND_ALTITUDESTATE_HIGH;
-    }
-    StatusVtolLandSet(&mLandData->fsmLandStatus);
-}
-
-
-float VtolLandFSM::BoundVelocityDown(float velocity_down)
-{
-    velocity_down = boundf(velocity_down, MIN_LANDRATE, MAX_LANDRATE);
-    if (mLandData->flLowAltitude) {
-        velocity_down *= LOW_ALT_DESCENT_REDUCTION_FACTOR;
-    }
-    mLandData->fsmLandStatus.targetDescentRate = velocity_down;
-
-    if (mLandData->flAltitudeHold) {
-        return 0.0f;
-    } else {
-        return velocity_down;
-    }
-}
-
-void VtolLandFSM::assessAltitude(void)
-{
-    float positionDown;
-
-    PositionStateDownGet(&positionDown);
-    float takeOffDown = 0.0f;
-    if (mLandData->takeOffLocation.Status == TAKEOFFLOCATION_STATUS_VALID) {
-        takeOffDown = mLandData->takeOffLocation.Down;
-    }
-    float positionDownRelativeToTakeoff = positionDown - takeOffDown;
-    if (positionDownRelativeToTakeoff < LANDING_SLOWDOWN_HEIGHT) {
-        mLandData->flLowAltitude = false;
-    } else {
-        mLandData->flLowAltitude = true;
-    }
-}
-
-
-// FSM Setup and Run method implementation
-
-// State: INACTIVE
-void VtolLandFSM::setup_inactive(void)
-{
-    // Re-initialise local variables
-    mLandData->flZeroStabiHorizontal = false;
-    mLandData->flConstrainThrust     = false;
-}
-
-// State: INIT ALTHOLD
-void VtolLandFSM::setup_init_althold(void)
-{
-    setStateTimeout(TIMEOUT_INIT_ALTHOLD);
-    // get target descent velocity
-    mLandData->flZeroStabiHorizontal = false;
-    mLandData->fsmLandStatus.targetDescentRate = BoundVelocityDown(pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_LAND_VELOCITYVECTOR_DOWN]);
-    mLandData->flConstrainThrust     = false;
-    mLandData->flAltitudeHold = true;
-    mLandData->boundThrustMin = vtolPathFollowerSettings->ThrustLimits.Min;
-    mLandData->boundThrustMax = vtolPathFollowerSettings->ThrustLimits.Max;
-}
-
-void VtolLandFSM::run_init_althold(uint8_t flTimeout)
-{
-    if (flTimeout) {
-        mLandData->flAltitudeHold = false;
-        setState(STATUSVTOLLAND_STATE_WTGFORDESCENTRATE, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
-    }
-}
-
-
-// State: WAITING FOR DESCENT RATE
-void VtolLandFSM::setup_wtg_for_descentrate(void)
-{
-    setStateTimeout(TIMEOUT_WTG_FOR_DESCENTRATE);
-    // get target descent velocity
-    mLandData->flZeroStabiHorizontal = false;
-    mLandData->observationCount = 0;
-    mLandData->observation2Count     = 0;
-    mLandData->flConstrainThrust     = false;
-    mLandData->flAltitudeHold = false;
-    mLandData->boundThrustMin = vtolPathFollowerSettings->ThrustLimits.Min;
-    mLandData->boundThrustMax = vtolPathFollowerSettings->ThrustLimits.Max;
-}
-
-void VtolLandFSM::run_wtg_for_descentrate(uint8_t flTimeout)
-{
-    // Look at current actual thrust...are we already shutdown??
-    VelocityStateData velocityState;
-
-    VelocityStateGet(&velocityState);
-    StabilizationDesiredData stabDesired;
-    StabilizationDesiredGet(&stabDesired);
-
-    // We don't expect PID to get exactly the target descent rate, so have a lower
-    // water mark but need to see 5 observations to be confident that we have semi-stable
-    // descent achieved
-
-    // we need to see velocity down within a range of control before we proceed, without which we
-    // really don't have confidence to allow later states to run.
-    if (velocityState.Down > (LANDRATE_LOWLIMIT_FACTOR * mLandData->fsmLandStatus.targetDescentRate) &&
-        velocityState.Down < (LANDRATE_HILIMIT_FACTOR * mLandData->fsmLandStatus.targetDescentRate)) {
-        if (mLandData->observationCount++ > WTG_FOR_DESCENTRATE_COUNT_LIMIT) {
-            setState(STATUSVTOLLAND_STATE_ATDESCENTRATE, STATUSVTOLLAND_STATEEXITREASON_DESCENTRATEOK);
-            return;
-        }
-    }
-
-    if (flTimeout) {
-        setState(STATUSVTOLLAND_STATE_ABORT, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
-    }
-}
-
-
-// State: AT DESCENT RATE
-void VtolLandFSM::setup_at_descentrate(void)
-{
-    setStateTimeout(TIMEOUT_AT_DESCENTRATE);
-    mLandData->flZeroStabiHorizontal = false;
-    mLandData->observationCount  = 0;
-    mLandData->sum1 = 0.0f;
-    mLandData->sum2 = 0.0f;
-    mLandData->flConstrainThrust = false;
-    mLandData->fsmLandStatus.averageDescentRate = MIN_LANDRATE;
-    mLandData->fsmLandStatus.averageDescentThrust = vtolPathFollowerSettings->ThrustLimits.Neutral;
-    mLandData->boundThrustMin    = vtolPathFollowerSettings->ThrustLimits.Min;
-    mLandData->boundThrustMax    = vtolPathFollowerSettings->ThrustLimits.Max;
-}
-
-void VtolLandFSM::run_at_descentrate(uint8_t flTimeout)
-{
-    VelocityStateData velocityState;
-
-    VelocityStateGet(&velocityState);
-
-    StabilizationDesiredData stabDesired;
-    StabilizationDesiredGet(&stabDesired);
-
-    mLandData->sum1 += velocityState.Down;
-    mLandData->sum2 += stabDesired.Thrust;
-    mLandData->observationCount++;
-    if (flTimeout) {
-        mLandData->fsmLandStatus.averageDescentRate   = boundf((mLandData->sum1 / (float)(mLandData->observationCount)), 0.5f * MIN_LANDRATE, 1.5f * MAX_LANDRATE);
-        mLandData->fsmLandStatus.averageDescentThrust = boundf((mLandData->sum2 / (float)(mLandData->observationCount)), vtolPathFollowerSettings->ThrustLimits.Min, vtolPathFollowerSettings->ThrustLimits.Max);
-
-        // We need to calculate a neutral limit to use later to constrain upper thrust range during states where we are close to the ground
-        // As our battery gets flat, ThrustLimits.Neutral needs to constrain us too much and we get too fast a descent rate. We can
-        // detect this by the fact that the descent rate will exceed the target and the required thrust will exceed the neutral value
-        mLandData->fsmLandStatus.calculatedNeutralThrust = mLandData->fsmLandStatus.averageDescentRate / mLandData->fsmLandStatus.targetDescentRate * mLandData->fsmLandStatus.averageDescentThrust;
-        mLandData->fsmLandStatus.calculatedNeutralThrust = boundf(mLandData->fsmLandStatus.calculatedNeutralThrust, vtolPathFollowerSettings->ThrustLimits.Neutral, vtolPathFollowerSettings->ThrustLimits.Max);
-
-
-        setState(STATUSVTOLLAND_STATE_WTGFORGROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_DESCENTRATEOK);
-    }
-}
-
-
-// State: WAITING FOR GROUND EFFECT
-void VtolLandFSM::setup_wtg_for_groundeffect(void)
-{
-    // No timeout
-    mLandData->flZeroStabiHorizontal = false;
-    mLandData->observationCount = 0;
-    mLandData->observation2Count     = 0;
-    mLandData->sum1 = 0.0f;
-    mLandData->sum2 = 0.0f;
-    mLandData->flConstrainThrust     = false;
-    mLandData->fsmLandStatus.WtgForGroundEffect.BounceVelocity = 0.0f;
-    mLandData->fsmLandStatus.WtgForGroundEffect.BounceAccel    = 0.0f;
-    mLandData->boundThrustMin = vtolPathFollowerSettings->ThrustLimits.Min;
-    mLandData->boundThrustMax = vtolPathFollowerSettings->ThrustLimits.Max;
-}
-
-void VtolLandFSM::run_wtg_for_groundeffect(__attribute__((unused)) uint8_t flTimeout)
-{
-    // detect material downrating in thrust for 1 second.
-    VelocityStateData velocityState;
-
-    VelocityStateGet(&velocityState);
-    AccelStateData accelState;
-    AccelStateGet(&accelState);
-
-    // +ve 9.8 expected
-    float g_e;
-    HomeLocationg_eGet(&g_e);
-
-    StabilizationDesiredData stabDesired;
-    StabilizationDesiredGet(&stabDesired);
-
-    // detect bounce
-    uint8_t flBounce = (velocityState.Down < BOUNCE_VELOCITY_TRIGGER_LIMIT);
-    if (flBounce) {
-        mLandData->fsmLandStatus.WtgForGroundEffect.BounceVelocity = velocityState.Down;
-    } else {
-        mLandData->fsmLandStatus.WtgForGroundEffect.BounceVelocity = 0.0f;
-    }
-
-    // invert sign of accel to the standard convention of down is +ve and subtract the gravity to get
-    // a relative acceleration term.
-    float bounceAccel     = -accelState.z - g_e;
-    uint8_t flBounceAccel = (bounceAccel < BOUNCE_ACCELERATION_TRIGGER_LIMIT);
-    if (flBounceAccel) {
-        mLandData->fsmLandStatus.WtgForGroundEffect.BounceAccel = bounceAccel;
-    } else {
-        mLandData->fsmLandStatus.WtgForGroundEffect.BounceAccel = 0.0f;
-    }
-
-    if (flBounce || flBounceAccel) {
-        mLandData->observation2Count++;
-        if (mLandData->observation2Count > BOUNCE_TRIGGER_COUNT) {
-            setState(STATUSVTOLLAND_STATE_GROUNDEFFECT, (flBounce ? STATUSVTOLLAND_STATEEXITREASON_BOUNCEVELOCITY : STATUSVTOLLAND_STATEEXITREASON_BOUNCEACCEL));
-            return;
-        }
-    } else {
-        mLandData->observation2Count = 0;
-    }
-
-    // detect low descent rate
-    uint8_t flDescentRateLow = (velocityState.Down < (GROUNDEFFECT_SLOWDOWN_FACTOR * mLandData->fsmLandStatus.averageDescentRate));
-    if (flDescentRateLow) {
-        mLandData->boundThrustMax = mLandData->fsmLandStatus.calculatedNeutralThrust;
-        mLandData->observationCount++;
-        if (mLandData->observationCount > GROUNDEFFECT_SLOWDOWN_COUNT) {
-#ifndef DEBUG_GROUNDIMPACT
-            setState(STATUSVTOLLAND_STATE_GROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_LOWDESCENTRATE);
-#endif
-            return;
-        }
-    } else {
-        mLandData->observationCount = 0;
-    }
-
-    updateVtolLandFSMStatus();
-}
-
-// STATE: GROUNDEFFET
-void VtolLandFSM::setup_groundeffect(void)
-{
-    setStateTimeout(TIMEOUT_GROUNDEFFECT);
-    mLandData->flZeroStabiHorizontal     = true;
-    PositionStateData positionState;
-    PositionStateGet(&positionState);
-    mLandData->expectedLandPositionNorth = positionState.North;
-    mLandData->expectedLandPositionEast  = positionState.East;
-    mLandData->flConstrainThrust = false;
-
-    // now that we have ground effect limit max thrust to neutral
-    mLandData->boundThrustMin    = -0.1f;
-    mLandData->boundThrustMax    = mLandData->fsmLandStatus.calculatedNeutralThrust;
-}
-void VtolLandFSM::run_groundeffect(__attribute__((unused)) uint8_t flTimeout)
-{
-    StabilizationDesiredData stabDesired;
-
-    StabilizationDesiredGet(&stabDesired);
-    if (stabDesired.Thrust < 0.0f) {
-        setState(STATUSVTOLLAND_STATE_THRUSTOFF, STATUSVTOLLAND_STATEEXITREASON_ZEROTHRUST);
-        return;
-    }
-
-    // Stay in this state until we get a low altitude flag.
-    if (mLandData->flLowAltitude == false) {
-        // worst case scenario is that we land and the pid brings thrust down to zero.
-        return;
-    }
-
-    // detect broad sideways drift.  If for some reason we have a hard landing that the bounce detection misses, this will kick in
-    PositionStateData positionState;
-    PositionStateGet(&positionState);
-    float north_error   = mLandData->expectedLandPositionNorth - positionState.North;
-    float east_error    = mLandData->expectedLandPositionEast - positionState.East;
-    float positionError = sqrtf(north_error * north_error + east_error * east_error);
-    if (positionError > 0.3f) {
-        setState(STATUSVTOLLAND_STATE_THRUSTDOWN, STATUSVTOLLAND_STATEEXITREASON_POSITIONERROR);
-        return;
-    }
-
-    if (flTimeout) {
-        setState(STATUSVTOLLAND_STATE_THRUSTDOWN, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
-    }
-}
-
-// STATE: THRUSTDOWN
-void VtolLandFSM::setup_thrustdown(void)
-{
-    setStateTimeout(TIMEOUT_THRUSTDOWN);
-    mLandData->flZeroStabiHorizontal = true;
-    mLandData->flConstrainThrust     = true;
-    StabilizationDesiredData stabDesired;
-    StabilizationDesiredGet(&stabDesired);
-    mLandData->thrustLimit    = stabDesired.Thrust;
-    mLandData->sum1 = stabDesired.Thrust / (float)TIMEOUT_THRUSTDOWN;
-    mLandData->boundThrustMin = -0.1f;
-    mLandData->boundThrustMax = mLandData->fsmLandStatus.calculatedNeutralThrust;
-}
-
-void VtolLandFSM::run_thrustdown(__attribute__((unused)) uint8_t flTimeout)
-{
-    // reduce thrust setpoint step by step
-    mLandData->thrustLimit -= mLandData->sum1;
-
-    StabilizationDesiredData stabDesired;
-    StabilizationDesiredGet(&stabDesired);
-    if (stabDesired.Thrust < 0.0f || mLandData->thrustLimit < 0.0f) {
-        setState(STATUSVTOLLAND_STATE_THRUSTOFF, STATUSVTOLLAND_STATEEXITREASON_ZEROTHRUST);
-    }
-
-    if (flTimeout) {
-        setState(STATUSVTOLLAND_STATE_THRUSTOFF, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
-    }
-}
-
-// STATE: THRUSTOFF
-void VtolLandFSM::setup_thrustoff(void)
-{
-    mLandData->thrustLimit       = -1.0f;
-    mLandData->flConstrainThrust = true;
-    mLandData->boundThrustMin    = -0.1f;
-    mLandData->boundThrustMax    = 0.0f;
-}
-
-void VtolLandFSM::run_thrustoff(__attribute__((unused)) uint8_t flTimeout)
-{
-    setState(STATUSVTOLLAND_STATE_DISARMED, STATUSVTOLLAND_STATEEXITREASON_NONE);
-}
-
-// STATE: DISARMED
-void VtolLandFSM::setup_disarmed(void)
-{
-    // nothing to do
-    mLandData->flConstrainThrust     = false;
-    mLandData->flZeroStabiHorizontal = false;
-    mLandData->observationCount = 0;
-    mLandData->boundThrustMin   = -0.1f;
-    mLandData->boundThrustMax   = 0.0f;
-}
-
-void VtolLandFSM::run_disarmed(__attribute__((unused)) uint8_t flTimeout)
-{
-#ifdef DEBUG_GROUNDIMPACT
-    if (mLandData->observationCount++ > 100) {
-        setState(STATUSVTOLLAND_STATE_WTGFORGROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_NONE);
-    }
-#endif
-}
-
-void VtolLandFSM::fallback_to_hold(void)
-{
-    PositionStateData positionState;
-
-    PositionStateGet(&positionState);
-    pathDesired->End.North        = positionState.North;
-    pathDesired->End.East         = positionState.East;
-    pathDesired->End.Down         = positionState.Down;
-    pathDesired->Start.North      = positionState.North;
-    pathDesired->Start.East       = positionState.East;
-    pathDesired->Start.Down       = positionState.Down;
-    pathDesired->StartingVelocity = 0.0f;
-    pathDesired->EndingVelocity   = 0.0f;
-    pathDesired->Mode = PATHDESIRED_MODE_GOTOENDPOINT;
-
-    PathDesiredSet(pathDesired);
-}
-
-// abort repeatedly overwrites pathfollower's objective on a landing abort and
-// continues to do so until a flight mode change.
-void VtolLandFSM::setup_abort(void)
-{
-    mLandData->boundThrustMin        = vtolPathFollowerSettings->ThrustLimits.Min;
-    mLandData->boundThrustMax        = vtolPathFollowerSettings->ThrustLimits.Max;
-    mLandData->flConstrainThrust     = false;
-    mLandData->flZeroStabiHorizontal = false;
-    fallback_to_hold();
-}
-
-void VtolLandFSM::run_abort(__attribute__((unused)) uint8_t flTimeout)
-{}
+/*
+ ******************************************************************************
+ *
+ * @file       vtollandfsm.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
+ * @brief      This landing state machine is a helper state machine to the
+ *             VtolLandController.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+extern "C" {
+#include <openpilot.h>
+
+#include <callbackinfo.h>
+
+#include <math.h>
+#include <pid.h>
+#include <CoordinateConversions.h>
+#include <sin_lookup.h>
+#include <pathdesired.h>
+#include <paths.h>
+#include "plans.h"
+#include <sanitycheck.h>
+
+#include <homelocation.h>
+#include <accelstate.h>
+#include <vtolpathfollowersettings.h>
+#include <flightstatus.h>
+#include <flightmodesettings.h>
+#include <pathstatus.h>
+#include <positionstate.h>
+#include <velocitystate.h>
+#include <velocitydesired.h>
+#include <stabilizationdesired.h>
+#include <airspeedstate.h>
+#include <attitudestate.h>
+#include <takeofflocation.h>
+#include <poilocation.h>
+#include <manualcontrolcommand.h>
+#include <systemsettings.h>
+#include <stabilizationbank.h>
+#include <stabilizationdesired.h>
+#include <vtolselftuningstats.h>
+#include <statusvtolland.h>
+#include <pathsummary.h>
+}
+
+// C++ includes
+#include <vtollandfsm.h>
+
+
+// Private constants
+#define TIMER_COUNT_PER_SECOND            (1000 / vtolPathFollowerSettings->UpdatePeriod)
+#define MIN_LANDRATE                      0.1f
+#define MAX_LANDRATE                      0.6f
+#define LOW_ALT_DESCENT_REDUCTION_FACTOR  0.7f  // TODO Need to make the transition smooth
+#define LANDRATE_LOWLIMIT_FACTOR          0.5f
+#define LANDRATE_HILIMIT_FACTOR           1.5f
+#define TIMEOUT_INIT_ALTHOLD              (3 * TIMER_COUNT_PER_SECOND)
+#define TIMEOUT_WTG_FOR_DESCENTRATE       (10 * TIMER_COUNT_PER_SECOND)
+#define WTG_FOR_DESCENTRATE_COUNT_LIMIT   10
+#define TIMEOUT_AT_DESCENTRATE            10
+#define TIMEOUT_GROUNDEFFECT              (1 * TIMER_COUNT_PER_SECOND)
+#define TIMEOUT_THRUSTDOWN                (2 * TIMER_COUNT_PER_SECOND)
+#define LANDING_PID_SCALAR_P              2.0f
+#define LANDING_PID_SCALAR_I              10.0f
+#define LANDING_SLOWDOWN_HEIGHT           -5.0f
+#define BOUNCE_VELOCITY_TRIGGER_LIMIT     -0.3f
+#define BOUNCE_ACCELERATION_TRIGGER_LIMIT -9.0f // -6.0 found to be too sensitive
+#define BOUNCE_TRIGGER_COUNT              4
+#define GROUNDEFFECT_SLOWDOWN_FACTOR      0.3f
+#define GROUNDEFFECT_SLOWDOWN_COUNT       4
+
+VtolLandFSM::PathFollowerFSM_LandStateHandler_T VtolLandFSM::sLandStateTable[LAND_STATE_SIZE] = {
+    [LAND_STATE_INACTIVE]       =       { .setup = &VtolLandFSM::setup_inactive,             .run = 0                                      },
+    [LAND_STATE_INIT_ALTHOLD]   =       { .setup = &VtolLandFSM::setup_init_althold,         .run = &VtolLandFSM::run_init_althold         },
+    [LAND_STATE_WTG_FOR_DESCENTRATE] =  { .setup = &VtolLandFSM::setup_wtg_for_descentrate,  .run = &VtolLandFSM::run_wtg_for_descentrate  },
+    [LAND_STATE_AT_DESCENTRATE] =       { .setup = &VtolLandFSM::setup_at_descentrate,       .run = &VtolLandFSM::run_at_descentrate       },
+    [LAND_STATE_WTG_FOR_GROUNDEFFECT] = { .setup = &VtolLandFSM::setup_wtg_for_groundeffect, .run = &VtolLandFSM::run_wtg_for_groundeffect },
+    [LAND_STATE_GROUNDEFFECT]   =       { .setup = &VtolLandFSM::setup_groundeffect,         .run = &VtolLandFSM::run_groundeffect         },
+    [LAND_STATE_THRUSTDOWN]     =       { .setup = &VtolLandFSM::setup_thrustdown,           .run = &VtolLandFSM::run_thrustdown           },
+    [LAND_STATE_THRUSTOFF]      =       { .setup = &VtolLandFSM::setup_thrustoff,            .run = &VtolLandFSM::run_thrustoff            },
+    [LAND_STATE_DISARMED]       =       { .setup = &VtolLandFSM::setup_disarmed,             .run = &VtolLandFSM::run_disarmed             },
+    [LAND_STATE_ABORT] =                { .setup = &VtolLandFSM::setup_abort,                .run = &VtolLandFSM::run_abort                }
+};
+
+// pointer to a singleton instance
+VtolLandFSM *VtolLandFSM::p_inst = 0;
+
+
+VtolLandFSM::VtolLandFSM()
+    : mLandData(0), vtolPathFollowerSettings(0), pathDesired(0), flightStatus(0)
+{}
+
+// Private types
+
+// Private functions
+// Public API methods
+/**
+ * Initialise the module, called on startup
+ * \returns 0 on success or -1 if initialisation failed
+ */
+int32_t VtolLandFSM::Initialize(VtolPathFollowerSettingsData *ptr_vtolPathFollowerSettings,
+                                PathDesiredData *ptr_pathDesired,
+                                FlightStatusData *ptr_flightStatus)
+{
+    PIOS_Assert(ptr_vtolPathFollowerSettings);
+    PIOS_Assert(ptr_pathDesired);
+    PIOS_Assert(ptr_flightStatus);
+
+    if (mLandData == 0) {
+        mLandData = (VtolLandFSMData_T *)pios_malloc(sizeof(VtolLandFSMData_T));
+        PIOS_Assert(mLandData);
+    }
+    memset(mLandData, 0, sizeof(VtolLandFSMData_T));
+    vtolPathFollowerSettings = ptr_vtolPathFollowerSettings;
+    pathDesired  = ptr_pathDesired;
+    flightStatus = ptr_flightStatus;
+    initFSM();
+
+    return 0;
+}
+
+void VtolLandFSM::Inactive(void)
+{
+    memset(mLandData, 0, sizeof(VtolLandFSMData_T));
+    initFSM();
+}
+
+// Initialise the FSM
+void VtolLandFSM::initFSM(void)
+{
+    if (vtolPathFollowerSettings != 0) {
+        setState(STATUSVTOLLAND_STATE_INACTIVE, STATUSVTOLLAND_STATEEXITREASON_NONE);
+    } else {
+        mLandData->currentState = STATUSVTOLLAND_STATE_INACTIVE;
+    }
+}
+
+void VtolLandFSM::Activate()
+{
+    memset(mLandData, 0, sizeof(VtolLandFSMData_T));
+    mLandData->currentState   = STATUSVTOLLAND_STATE_INACTIVE;
+    mLandData->flLowAltitude  = false;
+    mLandData->flAltitudeHold = false;
+    mLandData->fsmLandStatus.averageDescentRate      = MIN_LANDRATE;
+    mLandData->fsmLandStatus.averageDescentThrust    = vtolPathFollowerSettings->ThrustLimits.Neutral;
+    mLandData->fsmLandStatus.calculatedNeutralThrust = vtolPathFollowerSettings->ThrustLimits.Neutral;
+    mLandData->boundThrustMin = vtolPathFollowerSettings->ThrustLimits.Min;
+    mLandData->boundThrustMax = vtolPathFollowerSettings->ThrustLimits.Max;
+    TakeOffLocationGet(&(mLandData->takeOffLocation));
+    mLandData->fsmLandStatus.AltitudeAtState[STATUSVTOLLAND_STATE_INACTIVE] = 0.0f;
+    assessAltitude();
+
+    if (pathDesired->Mode == PATHDESIRED_MODE_LAND) {
+#ifndef DEBUG_GROUNDIMPACT
+        setState(STATUSVTOLLAND_STATE_INITALTHOLD, STATUSVTOLLAND_STATEEXITREASON_NONE);
+#else
+        setState(STATUSVTOLLAND_STATE_WTGFORGROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_NONE);
+#endif
+    } else {
+        // move to error state and callback to position hold
+        setState(STATUSVTOLLAND_STATE_ABORT, STATUSVTOLLAND_STATEEXITREASON_NONE);
+    }
+}
+
+void VtolLandFSM::Abort(void)
+{
+    setState(STATUSVTOLLAND_STATE_ABORT, STATUSVTOLLAND_STATEEXITREASON_NONE);
+}
+
+PathFollowerFSMState_T VtolLandFSM::GetCurrentState(void)
+{
+    switch (mLandData->currentState) {
+    case STATUSVTOLLAND_STATE_INACTIVE:
+        return PFFSM_STATE_INACTIVE;
+
+        break;
+    case STATUSVTOLLAND_STATE_ABORT:
+        return PFFSM_STATE_ABORT;
+
+        break;
+    case STATUSVTOLLAND_STATE_DISARMED:
+        return PFFSM_STATE_DISARMED;
+
+        break;
+    default:
+        return PFFSM_STATE_ACTIVE;
+
+        break;
+    }
+}
+
+void VtolLandFSM::Update()
+{
+    runState();
+    if (GetCurrentState() != PFFSM_STATE_INACTIVE) {
+        runAlways();
+    }
+}
+
+int32_t VtolLandFSM::runState(void)
+{
+    uint8_t flTimeout = false;
+
+    mLandData->stateRunCount++;
+
+    if (mLandData->stateTimeoutCount > 0 && mLandData->stateRunCount > mLandData->stateTimeoutCount) {
+        flTimeout = true;
+    }
+
+    // If the current state has a static function, call it
+    if (sLandStateTable[mLandData->currentState].run) {
+        (this->*sLandStateTable[mLandData->currentState].run)(flTimeout);
+    }
+    return 0;
+}
+
+int32_t VtolLandFSM::runAlways(void)
+{
+    void assessAltitude(void);
+
+    return 0;
+}
+
+// PathFollower implements the PID scheme and has a objective
+// set by a PathDesired object.  Based on the mode, pathfollower
+// uses FSM's as helper functions that manage state and event detection.
+// PathFollower calls into FSM methods to alter its commands.
+
+void VtolLandFSM::BoundThrust(float &ulow, float &uhigh)
+{
+    ulow  = mLandData->boundThrustMin;
+    uhigh = mLandData->boundThrustMax;
+
+
+    if (mLandData->flConstrainThrust) {
+        uhigh = mLandData->thrustLimit;
+    }
+}
+
+void VtolLandFSM::ConstrainStabiDesired(StabilizationDesiredData *stabDesired)
+{
+    if (mLandData->flZeroStabiHorizontal && stabDesired) {
+        stabDesired->Pitch = 0.0f;
+        stabDesired->Roll  = 0.0f;
+        stabDesired->Yaw   = 0.0f;
+    }
+}
+
+void VtolLandFSM::CheckPidScaler(pid_scaler *local_scaler)
+{
+    if (mLandData->flLowAltitude) {
+        local_scaler->p = LANDING_PID_SCALAR_P;
+        local_scaler->i = LANDING_PID_SCALAR_I;
+    }
+}
+
+
+// Set the new state and perform setup for subsequent state run calls
+// This is called by state run functions on event detection that drive
+// state transitions.
+void VtolLandFSM::setState(StatusVtolLandStateOptions newState, StatusVtolLandStateExitReasonOptions reason)
+{
+    mLandData->fsmLandStatus.StateExitReason[mLandData->currentState] = reason;
+
+    if (mLandData->currentState == newState) {
+        return;
+    }
+    mLandData->currentState = newState;
+
+    if (newState != STATUSVTOLLAND_STATE_INACTIVE) {
+        PositionStateData positionState;
+        PositionStateGet(&positionState);
+        float takeOffDown = 0.0f;
+        if (mLandData->takeOffLocation.Status == TAKEOFFLOCATION_STATUS_VALID) {
+            takeOffDown = mLandData->takeOffLocation.Down;
+        }
+        mLandData->fsmLandStatus.AltitudeAtState[newState] = positionState.Down - takeOffDown;
+        assessAltitude();
+    }
+
+    // Restart state timer counter
+    mLandData->stateRunCount     = 0;
+
+    // Reset state timeout to disabled/zero
+    mLandData->stateTimeoutCount = 0;
+
+    if (sLandStateTable[mLandData->currentState].setup) {
+        (this->*sLandStateTable[mLandData->currentState].setup)();
+    }
+
+    updateVtolLandFSMStatus();
+}
+
+
+// Timeout utility function for use by state init implementations
+void VtolLandFSM::setStateTimeout(int32_t count)
+{
+    mLandData->stateTimeoutCount = count;
+}
+
+void VtolLandFSM::updateVtolLandFSMStatus()
+{
+    mLandData->fsmLandStatus.State = mLandData->currentState;
+    if (mLandData->flLowAltitude) {
+        mLandData->fsmLandStatus.AltitudeState = STATUSVTOLLAND_ALTITUDESTATE_LOW;
+    } else {
+        mLandData->fsmLandStatus.AltitudeState = STATUSVTOLLAND_ALTITUDESTATE_HIGH;
+    }
+    StatusVtolLandSet(&mLandData->fsmLandStatus);
+}
+
+
+float VtolLandFSM::BoundVelocityDown(float velocity_down)
+{
+    velocity_down = boundf(velocity_down, MIN_LANDRATE, MAX_LANDRATE);
+    if (mLandData->flLowAltitude) {
+        velocity_down *= LOW_ALT_DESCENT_REDUCTION_FACTOR;
+    }
+    mLandData->fsmLandStatus.targetDescentRate = velocity_down;
+
+    if (mLandData->flAltitudeHold) {
+        return 0.0f;
+    } else {
+        return velocity_down;
+    }
+}
+
+void VtolLandFSM::assessAltitude(void)
+{
+    float positionDown;
+
+    PositionStateDownGet(&positionDown);
+    float takeOffDown = 0.0f;
+    if (mLandData->takeOffLocation.Status == TAKEOFFLOCATION_STATUS_VALID) {
+        takeOffDown = mLandData->takeOffLocation.Down;
+    }
+    float positionDownRelativeToTakeoff = positionDown - takeOffDown;
+    if (positionDownRelativeToTakeoff < LANDING_SLOWDOWN_HEIGHT) {
+        mLandData->flLowAltitude = false;
+    } else {
+        mLandData->flLowAltitude = true;
+    }
+}
+
+
+// FSM Setup and Run method implementation
+
+// State: INACTIVE
+void VtolLandFSM::setup_inactive(void)
+{
+    // Re-initialise local variables
+    mLandData->flZeroStabiHorizontal = false;
+    mLandData->flConstrainThrust     = false;
+}
+
+// State: INIT ALTHOLD
+void VtolLandFSM::setup_init_althold(void)
+{
+    setStateTimeout(TIMEOUT_INIT_ALTHOLD);
+    // get target descent velocity
+    mLandData->flZeroStabiHorizontal = false;
+    mLandData->fsmLandStatus.targetDescentRate = BoundVelocityDown(pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_LAND_VELOCITYVECTOR_DOWN]);
+    mLandData->flConstrainThrust     = false;
+    mLandData->flAltitudeHold = true;
+    mLandData->boundThrustMin = vtolPathFollowerSettings->ThrustLimits.Min;
+    mLandData->boundThrustMax = vtolPathFollowerSettings->ThrustLimits.Max;
+}
+
+void VtolLandFSM::run_init_althold(uint8_t flTimeout)
+{
+    if (flTimeout) {
+        mLandData->flAltitudeHold = false;
+        setState(STATUSVTOLLAND_STATE_WTGFORDESCENTRATE, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
+    }
+}
+
+
+// State: WAITING FOR DESCENT RATE
+void VtolLandFSM::setup_wtg_for_descentrate(void)
+{
+    setStateTimeout(TIMEOUT_WTG_FOR_DESCENTRATE);
+    // get target descent velocity
+    mLandData->flZeroStabiHorizontal = false;
+    mLandData->observationCount = 0;
+    mLandData->observation2Count     = 0;
+    mLandData->flConstrainThrust     = false;
+    mLandData->flAltitudeHold = false;
+    mLandData->boundThrustMin = vtolPathFollowerSettings->ThrustLimits.Min;
+    mLandData->boundThrustMax = vtolPathFollowerSettings->ThrustLimits.Max;
+}
+
+void VtolLandFSM::run_wtg_for_descentrate(uint8_t flTimeout)
+{
+    // Look at current actual thrust...are we already shutdown??
+    VelocityStateData velocityState;
+
+    VelocityStateGet(&velocityState);
+    StabilizationDesiredData stabDesired;
+    StabilizationDesiredGet(&stabDesired);
+
+    // We don't expect PID to get exactly the target descent rate, so have a lower
+    // water mark but need to see 5 observations to be confident that we have semi-stable
+    // descent achieved
+
+    // we need to see velocity down within a range of control before we proceed, without which we
+    // really don't have confidence to allow later states to run.
+    if (velocityState.Down > (LANDRATE_LOWLIMIT_FACTOR * mLandData->fsmLandStatus.targetDescentRate) &&
+        velocityState.Down < (LANDRATE_HILIMIT_FACTOR * mLandData->fsmLandStatus.targetDescentRate)) {
+        if (mLandData->observationCount++ > WTG_FOR_DESCENTRATE_COUNT_LIMIT) {
+            setState(STATUSVTOLLAND_STATE_ATDESCENTRATE, STATUSVTOLLAND_STATEEXITREASON_DESCENTRATEOK);
+            return;
+        }
+    }
+
+    if (flTimeout) {
+        setState(STATUSVTOLLAND_STATE_ABORT, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
+    }
+}
+
+
+// State: AT DESCENT RATE
+void VtolLandFSM::setup_at_descentrate(void)
+{
+    setStateTimeout(TIMEOUT_AT_DESCENTRATE);
+    mLandData->flZeroStabiHorizontal = false;
+    mLandData->observationCount  = 0;
+    mLandData->sum1 = 0.0f;
+    mLandData->sum2 = 0.0f;
+    mLandData->flConstrainThrust = false;
+    mLandData->fsmLandStatus.averageDescentRate = MIN_LANDRATE;
+    mLandData->fsmLandStatus.averageDescentThrust = vtolPathFollowerSettings->ThrustLimits.Neutral;
+    mLandData->boundThrustMin    = vtolPathFollowerSettings->ThrustLimits.Min;
+    mLandData->boundThrustMax    = vtolPathFollowerSettings->ThrustLimits.Max;
+}
+
+void VtolLandFSM::run_at_descentrate(uint8_t flTimeout)
+{
+    VelocityStateData velocityState;
+
+    VelocityStateGet(&velocityState);
+
+    StabilizationDesiredData stabDesired;
+    StabilizationDesiredGet(&stabDesired);
+
+    mLandData->sum1 += velocityState.Down;
+    mLandData->sum2 += stabDesired.Thrust;
+    mLandData->observationCount++;
+    if (flTimeout) {
+        mLandData->fsmLandStatus.averageDescentRate   = boundf((mLandData->sum1 / (float)(mLandData->observationCount)), 0.5f * MIN_LANDRATE, 1.5f * MAX_LANDRATE);
+        mLandData->fsmLandStatus.averageDescentThrust = boundf((mLandData->sum2 / (float)(mLandData->observationCount)), vtolPathFollowerSettings->ThrustLimits.Min, vtolPathFollowerSettings->ThrustLimits.Max);
+
+        // We need to calculate a neutral limit to use later to constrain upper thrust range during states where we are close to the ground
+        // As our battery gets flat, ThrustLimits.Neutral needs to constrain us too much and we get too fast a descent rate. We can
+        // detect this by the fact that the descent rate will exceed the target and the required thrust will exceed the neutral value
+        mLandData->fsmLandStatus.calculatedNeutralThrust = mLandData->fsmLandStatus.averageDescentRate / mLandData->fsmLandStatus.targetDescentRate * mLandData->fsmLandStatus.averageDescentThrust;
+        mLandData->fsmLandStatus.calculatedNeutralThrust = boundf(mLandData->fsmLandStatus.calculatedNeutralThrust, vtolPathFollowerSettings->ThrustLimits.Neutral, vtolPathFollowerSettings->ThrustLimits.Max);
+
+
+        setState(STATUSVTOLLAND_STATE_WTGFORGROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_DESCENTRATEOK);
+    }
+}
+
+
+// State: WAITING FOR GROUND EFFECT
+void VtolLandFSM::setup_wtg_for_groundeffect(void)
+{
+    // No timeout
+    mLandData->flZeroStabiHorizontal = false;
+    mLandData->observationCount = 0;
+    mLandData->observation2Count     = 0;
+    mLandData->sum1 = 0.0f;
+    mLandData->sum2 = 0.0f;
+    mLandData->flConstrainThrust     = false;
+    mLandData->fsmLandStatus.WtgForGroundEffect.BounceVelocity = 0.0f;
+    mLandData->fsmLandStatus.WtgForGroundEffect.BounceAccel    = 0.0f;
+    mLandData->boundThrustMin = vtolPathFollowerSettings->ThrustLimits.Min;
+    mLandData->boundThrustMax = vtolPathFollowerSettings->ThrustLimits.Max;
+}
+
+void VtolLandFSM::run_wtg_for_groundeffect(__attribute__((unused)) uint8_t flTimeout)
+{
+    // detect material downrating in thrust for 1 second.
+    VelocityStateData velocityState;
+
+    VelocityStateGet(&velocityState);
+    AccelStateData accelState;
+    AccelStateGet(&accelState);
+
+    // +ve 9.8 expected
+    float g_e;
+    HomeLocationg_eGet(&g_e);
+
+    StabilizationDesiredData stabDesired;
+    StabilizationDesiredGet(&stabDesired);
+
+    // detect bounce
+    uint8_t flBounce = (velocityState.Down < BOUNCE_VELOCITY_TRIGGER_LIMIT);
+    if (flBounce) {
+        mLandData->fsmLandStatus.WtgForGroundEffect.BounceVelocity = velocityState.Down;
+    } else {
+        mLandData->fsmLandStatus.WtgForGroundEffect.BounceVelocity = 0.0f;
+    }
+
+    // invert sign of accel to the standard convention of down is +ve and subtract the gravity to get
+    // a relative acceleration term.
+    float bounceAccel     = -accelState.z - g_e;
+    uint8_t flBounceAccel = (bounceAccel < BOUNCE_ACCELERATION_TRIGGER_LIMIT);
+    if (flBounceAccel) {
+        mLandData->fsmLandStatus.WtgForGroundEffect.BounceAccel = bounceAccel;
+    } else {
+        mLandData->fsmLandStatus.WtgForGroundEffect.BounceAccel = 0.0f;
+    }
+
+    if (flBounce) { // || flBounceAccel) { // accel trigger can occur due to vibration and is too sensitive
+        mLandData->observation2Count++;
+        if (mLandData->observation2Count > BOUNCE_TRIGGER_COUNT) {
+            setState(STATUSVTOLLAND_STATE_GROUNDEFFECT, (flBounce ? STATUSVTOLLAND_STATEEXITREASON_BOUNCEVELOCITY : STATUSVTOLLAND_STATEEXITREASON_BOUNCEACCEL));
+            return;
+        }
+    } else {
+        mLandData->observation2Count = 0;
+    }
+
+    // detect low descent rate
+    uint8_t flDescentRateLow = (velocityState.Down < (GROUNDEFFECT_SLOWDOWN_FACTOR * mLandData->fsmLandStatus.averageDescentRate));
+    if (flDescentRateLow) {
+        mLandData->boundThrustMax = mLandData->fsmLandStatus.calculatedNeutralThrust;
+        mLandData->observationCount++;
+        if (mLandData->observationCount > GROUNDEFFECT_SLOWDOWN_COUNT) {
+#ifndef DEBUG_GROUNDIMPACT
+            setState(STATUSVTOLLAND_STATE_GROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_LOWDESCENTRATE);
+#endif
+            return;
+        }
+    } else {
+        mLandData->observationCount = 0;
+    }
+
+    updateVtolLandFSMStatus();
+}
+
+// STATE: GROUNDEFFET
+void VtolLandFSM::setup_groundeffect(void)
+{
+    setStateTimeout(TIMEOUT_GROUNDEFFECT);
+    mLandData->flZeroStabiHorizontal     = false;
+    PositionStateData positionState;
+    PositionStateGet(&positionState);
+    mLandData->expectedLandPositionNorth = positionState.North;
+    mLandData->expectedLandPositionEast  = positionState.East;
+    mLandData->flConstrainThrust = false;
+
+    // now that we have ground effect limit max thrust to neutral
+    mLandData->boundThrustMin    = -0.1f;
+    mLandData->boundThrustMax    = mLandData->fsmLandStatus.calculatedNeutralThrust;
+}
+void VtolLandFSM::run_groundeffect(__attribute__((unused)) uint8_t flTimeout)
+{
+    StabilizationDesiredData stabDesired;
+
+    StabilizationDesiredGet(&stabDesired);
+    if (stabDesired.Thrust < 0.0f) {
+        setState(STATUSVTOLLAND_STATE_THRUSTOFF, STATUSVTOLLAND_STATEEXITREASON_ZEROTHRUST);
+        return;
+    }
+
+    // Stay in this state until we get a low altitude flag.
+    if (mLandData->flLowAltitude == false) {
+        // worst case scenario is that we land and the pid brings thrust down to zero.
+        return;
+    }
+
+    // detect broad sideways drift.  If for some reason we have a hard landing that the bounce detection misses, this will kick in
+    PositionStateData positionState;
+    PositionStateGet(&positionState);
+    float north_error   = mLandData->expectedLandPositionNorth - positionState.North;
+    float east_error    = mLandData->expectedLandPositionEast - positionState.East;
+    float positionError = sqrtf(north_error * north_error + east_error * east_error);
+    if (positionError > 1.5f) {
+        setState(STATUSVTOLLAND_STATE_THRUSTDOWN, STATUSVTOLLAND_STATEEXITREASON_POSITIONERROR);
+        return;
+    }
+
+    if (flTimeout) {
+        setState(STATUSVTOLLAND_STATE_THRUSTDOWN, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
+    }
+}
+
+// STATE: THRUSTDOWN
+void VtolLandFSM::setup_thrustdown(void)
+{
+    setStateTimeout(TIMEOUT_THRUSTDOWN);
+    mLandData->flZeroStabiHorizontal = true;
+    mLandData->flConstrainThrust     = true;
+    StabilizationDesiredData stabDesired;
+    StabilizationDesiredGet(&stabDesired);
+    mLandData->thrustLimit    = stabDesired.Thrust;
+    mLandData->sum1 = stabDesired.Thrust / (float)TIMEOUT_THRUSTDOWN;
+    mLandData->boundThrustMin = -0.1f;
+    mLandData->boundThrustMax = mLandData->fsmLandStatus.calculatedNeutralThrust;
+}
+
+void VtolLandFSM::run_thrustdown(__attribute__((unused)) uint8_t flTimeout)
+{
+    // reduce thrust setpoint step by step
+    mLandData->thrustLimit -= mLandData->sum1;
+
+    StabilizationDesiredData stabDesired;
+    StabilizationDesiredGet(&stabDesired);
+    if (stabDesired.Thrust < 0.0f || mLandData->thrustLimit < 0.0f) {
+        setState(STATUSVTOLLAND_STATE_THRUSTOFF, STATUSVTOLLAND_STATEEXITREASON_ZEROTHRUST);
+    }
+
+    if (flTimeout) {
+        setState(STATUSVTOLLAND_STATE_THRUSTOFF, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
+    }
+}
+
+// STATE: THRUSTOFF
+void VtolLandFSM::setup_thrustoff(void)
+{
+    mLandData->thrustLimit       = -1.0f;
+    mLandData->flConstrainThrust = true;
+    mLandData->boundThrustMin    = -0.1f;
+    mLandData->boundThrustMax    = 0.0f;
+}
+
+void VtolLandFSM::run_thrustoff(__attribute__((unused)) uint8_t flTimeout)
+{
+    setState(STATUSVTOLLAND_STATE_DISARMED, STATUSVTOLLAND_STATEEXITREASON_NONE);
+}
+
+// STATE: DISARMED
+void VtolLandFSM::setup_disarmed(void)
+{
+    // nothing to do
+    mLandData->flConstrainThrust     = false;
+    mLandData->flZeroStabiHorizontal = false;
+    mLandData->observationCount = 0;
+    mLandData->boundThrustMin   = -0.1f;
+    mLandData->boundThrustMax   = 0.0f;
+}
+
+void VtolLandFSM::run_disarmed(__attribute__((unused)) uint8_t flTimeout)
+{
+#ifdef DEBUG_GROUNDIMPACT
+    if (mLandData->observationCount++ > 100) {
+        setState(STATUSVTOLLAND_STATE_WTGFORGROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_NONE);
+    }
+#endif
+}
+
+void VtolLandFSM::fallback_to_hold(void)
+{
+    PositionStateData positionState;
+
+    PositionStateGet(&positionState);
+    pathDesired->End.North        = positionState.North;
+    pathDesired->End.East         = positionState.East;
+    pathDesired->End.Down         = positionState.Down;
+    pathDesired->Start.North      = positionState.North;
+    pathDesired->Start.East       = positionState.East;
+    pathDesired->Start.Down       = positionState.Down;
+    pathDesired->StartingVelocity = 0.0f;
+    pathDesired->EndingVelocity   = 0.0f;
+    pathDesired->Mode = PATHDESIRED_MODE_GOTOENDPOINT;
+
+    PathDesiredSet(pathDesired);
+}
+
+// abort repeatedly overwrites pathfollower's objective on a landing abort and
+// continues to do so until a flight mode change.
+void VtolLandFSM::setup_abort(void)
+{
+    mLandData->boundThrustMin        = vtolPathFollowerSettings->ThrustLimits.Min;
+    mLandData->boundThrustMax        = vtolPathFollowerSettings->ThrustLimits.Max;
+    mLandData->flConstrainThrust     = false;
+    mLandData->flZeroStabiHorizontal = false;
+    fallback_to_hold();
+}
+
+void VtolLandFSM::run_abort(__attribute__((unused)) uint8_t flTimeout)
+{}

flight/modules/PathPlanner/pathplanner.c

@@ -403,6 +403,8 @@ void updatePathDesired()
         /*pathDesired.Start[PATHDESIRED_START_NORTH] =  waypoint.Position[WAYPOINT_POSITION_NORTH];
            pathDesired.Start[PATHDESIRED_START_EAST] =  waypoint.Position[WAYPOINT_POSITION_EAST];
            pathDesired.Start[PATHDESIRED_START_DOWN] =  waypoint.Position[WAYPOINT_POSITION_DOWN];*/
+        // note takeoff relies on the start being the current location as it merely ascends and using
+        // the start as assumption current NE location
         pathDesired.Start.North = positionState.North;
         pathDesired.Start.East  = positionState.East;
         pathDesired.Start.Down  = positionState.Down;
@@ -553,18 +555,11 @@ static uint8_t conditionDistanceToTarget()
  */
 static uint8_t conditionLegRemaining()
 {
-    PathDesiredData pathDesired;
-    PositionStateData positionState;
+    PathStatusData pathStatus;
 
-    PathDesiredGet(&pathDesired);
-    PositionStateGet(&positionState);
+    PathStatusGet(&pathStatus);
 
-    float cur[3] = { positionState.North, positionState.East, positionState.Down };
-    struct path_status progress;
-
-    path_progress(&pathDesired,
-                  cur, &progress, mode3D);
-    if (progress.fractional_progress >= 1.0f - pathAction.ConditionParameters[0]) {
+    if (pathStatus.fractional_progress >= (1.0f - pathAction.ConditionParameters[0])) {
         return true;
     }
     return false;

flight/modules/Sensors/sensors.c

@@ -444,8 +444,8 @@ static void handleGyro(float *samples, float temperature)
 static void handleMag(float *samples, float temperature)
 {
     MagSensorData mag;
-    float mags[3] = { (float)samples[1] - mag_bias[0],
-                      (float)samples[0] - mag_bias[1],
+    float mags[3] = { (float)samples[0] - mag_bias[0],
+                      (float)samples[1] - mag_bias[1],
                       (float)samples[2] - mag_bias[2] };
 
     rot_mult(mag_transform, mags, samples);

flight/modules/Stabilization/innerloop.c

@@ -49,7 +49,7 @@
 #include <stabilization.h>
 #include <virtualflybar.h>
 #include <cruisecontrol.h>
-
+#include <sanitycheck.h>
 // Private constants
 
 #define CALLBACK_PRIORITY CALLBACK_PRIORITY_CRITICAL
@@ -66,6 +66,7 @@ static float axis_lock_accum[3] = { 0, 0, 0 };
 static uint8_t previous_mode[AXES] = { 255, 255, 255, 255 };
 static PiOSDeltatimeConfig timeval;
 static float speedScaleFactor = 1.0f;
+static bool frame_is_multirotor;
 
 // Private functions
 static void stabilizationInnerloopTask();
@@ -95,6 +96,8 @@ void stabilizationInnerloopInit()
 
     // schedule dead calls every FAILSAFE_TIMEOUT_MS to have the watchdog cleared
     PIOS_CALLBACKSCHEDULER_Schedule(callbackHandle, FAILSAFE_TIMEOUT_MS, CALLBACK_UPDATEMODE_LATER);
+
+    frame_is_multirotor = (GetCurrentFrameType() == FRAME_TYPE_MULTIROTOR);
 }
 
 static float get_pid_scale_source_value()
@@ -241,6 +244,10 @@ static void stabilizationInnerloopTask()
     float dT;
     dT = PIOS_DELTATIME_GetAverageSeconds(&timeval);
 
+    StabilizationStatusOuterLoopData outerLoop;
+    StabilizationStatusOuterLoopGet(&outerLoop);
+    bool allowPiroComp = true;
+
     for (t = 0; t < AXES; t++) {
         bool reinit = (StabilizationStatusInnerLoopToArray(enabled)[t] != previous_mode[t]);
         previous_mode[t] = StabilizationStatusInnerLoopToArray(enabled)[t];
@@ -248,6 +255,15 @@ static void stabilizationInnerloopTask()
         if (t < STABILIZATIONSTATUS_INNERLOOP_THRUST) {
             if (reinit) {
                 stabSettings.innerPids[t].iAccumulator = 0;
+                if (frame_is_multirotor) {
+                    // Multirotors should dump axis lock accumulators when unarmed or throttle is low.
+                    // Fixed wing or ground vehicles can fly/drive with low throttle.
+                    axis_lock_accum[t] = 0;
+                }
+            }
+            // Any self leveling on roll or pitch must prevent pirouette compensation
+            if (t < STABILIZATIONSTATUS_INNERLOOP_YAW && StabilizationStatusOuterLoopToArray(outerLoop)[t] != STABILIZATIONSTATUS_OUTERLOOP_DIRECT) {
+                allowPiroComp = false;
             }
             switch (StabilizationStatusInnerLoopToArray(enabled)[t]) {
             case STABILIZATIONSTATUS_INNERLOOP_VIRTUALFLYBAR:
@@ -322,7 +338,7 @@ static void stabilizationInnerloopTask()
         }
     }
 
-    if (stabSettings.stabBank.EnablePiroComp == STABILIZATIONBANK_ENABLEPIROCOMP_TRUE && stabSettings.innerPids[0].iLim > 1e-3f && stabSettings.innerPids[1].iLim > 1e-3f) {
+    if (allowPiroComp && stabSettings.stabBank.EnablePiroComp == STABILIZATIONBANK_ENABLEPIROCOMP_TRUE && stabSettings.innerPids[0].iLim > 1e-3f && stabSettings.innerPids[1].iLim > 1e-3f) {
         // attempted piro compensation - rotate pitch and yaw integrals (experimental)
         float angleYaw = DEG2RAD(gyro_filtered[2] * dT);
         float sinYaw   = sinf(angleYaw);

flight/modules/StateEstimation/filterstationary.c

@@ -30,13 +30,17 @@
  */
 
 #include "inc/stateestimation.h"
-
+// Fake pos rate in uS
+#define FILTERSTATIONARY_FAKEPOSRATE 100000
 // Private constants
 
-#define STACK_REQUIRED 64
+#define STACK_REQUIRED               64
 
 // Private types
-
+// Private types
+struct data {
+    uint32_t lastUpdate;
+};
 // Private variables
 
 // Private functions
@@ -49,27 +53,34 @@ int32_t filterStationaryInitialize(stateFilter *handle)
 {
     handle->init      = &init;
     handle->filter    = &filter;
-    handle->localdata = NULL;
+    handle->localdata = pios_malloc(sizeof(struct data));
     return STACK_REQUIRED;
 }
 
-static int32_t init(__attribute__((unused)) stateFilter *self)
+static int32_t init(stateFilter *self)
 {
+    struct data *this = (struct data *)self->localdata;
+
+    this->lastUpdate = PIOS_DELAY_GetRaw();
     return 0;
 }
 
-static filterResult filter(__attribute__((unused)) stateFilter *self, stateEstimation *state)
+static filterResult filter(stateFilter *self, stateEstimation *state)
 {
-    state->pos[0]   = 0.0f;
-    state->pos[1]   = 0.0f;
-    state->pos[2]   = 0.0f;
-    state->updated |= SENSORUPDATES_pos;
+    struct data *this = (struct data *)self->localdata;
 
-    state->vel[0]   = 0.0f;
-    state->vel[1]   = 0.0f;
-    state->vel[2]   = 0.0f;
-    state->updated |= SENSORUPDATES_vel;
+    if (PIOS_DELAY_DiffuS(this->lastUpdate) > FILTERSTATIONARY_FAKEPOSRATE) {
+        this->lastUpdate = PIOS_DELAY_GetRaw();
+        state->pos[0]    = 0.0f;
+        state->pos[1]    = 0.0f;
+        state->pos[2]    = 0.0f;
+        state->updated  |= SENSORUPDATES_pos;
 
+        state->vel[0]    = 0.0f;
+        state->vel[1]    = 0.0f;
+        state->vel[2]    = 0.0f;
+        state->updated  |= SENSORUPDATES_vel;
+    }
     return FILTERRESULT_OK;
 }
 

flight/modules/Telemetry/telemetry.c

@@ -9,7 +9,7 @@
  * @{
  *
  * @file       telemetry.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
  * @brief      Telemetry module, handles telemetry and UAVObject updates
  * @see        The GNU Public License (GPL) Version 3
  *
@@ -30,6 +30,34 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
+/* Telemetry uses four tasks. Two are created for the main telemetry
+ * stream called "TelTx" and "TelRx". Two are created to handle the OPLink
+ * radio connection, called "RadioTx" and "RadioRx", the latter being
+ * overridden by USB if connected.
+ *
+ * The following code uses a "local" prefix to refer to the telemetry channel
+ * associated with a port on the FC and a "radio" prefix to refer to the
+ * telemetry channel associated with the OPLink/USB.
+ *
+ * The "local" telemetry port to use is defined by PIOS_COM_TELEM_RF in
+ * PIOS_Board_Init().
+ *
+ * A UAVTalk connection instance, telemUavTalkCon, is associated with the
+ * "local" channel and another, radioUavTalkCon, with the "radio" channel.
+ * Associated with each instance is a transmit routine which will send data
+ * to the appropriate port.
+ *
+ * Data is passed on the telemetry channels using queues. If
+ * PIOS_TELEM_PRIORITY_QUEUE is defined then two queues are created, one normal
+ * priority and the other high priority.
+ *
+ * The "Tx" tasks read events first from the priority queue and then from
+ * the normal queue, passing each event to processObjEvent() which ultimately
+ * passes each event to the UAVTalk library which results in the appropriate
+ * transmit routine being called to send the data back to the recipient on
+ * the "local" or "radio" link.
+ */
+
 #include <openpilot.h>
 
 #include "telemetry.h"
@@ -53,62 +81,74 @@
 
 #ifdef PIOS_TELEM_RADIO_RX_STACK_SIZE
 #define STACK_SIZE_RADIO_RX_BYTES PIOS_TELEM_RADIO_RX_STACK_SIZE
+#define STACK_SIZE_RADIO_TX_BYTES PIOS_TELEM_RADIO_TX_STACK_SIZE
 #else
 #define STACK_SIZE_RADIO_RX_BYTES STACK_SIZE_RX_BYTES
+#define STACK_SIZE_RADIO_TX_BYTES STACK_SIZE_TX_BYTES
 #endif
 #define TASK_PRIORITY_RX          (tskIDLE_PRIORITY + 2)
 #define TASK_PRIORITY_TX          (tskIDLE_PRIORITY + 2)
 #define TASK_PRIORITY_RADRX       (tskIDLE_PRIORITY + 2)
+#define TASK_PRIORITY_RADTX       (tskIDLE_PRIORITY + 2)
 #define REQ_TIMEOUT_MS            250
 #define MAX_RETRIES               2
 #define STATS_UPDATE_PERIOD_MS    4000
 #define CONNECTION_TIMEOUT_MS     8000
 
 // Private types
+typedef struct {
+    // Determine port on which to communicate telemetry information
+    uint32_t (*getPort)();
+    // Main telemetry queue
+    xQueueHandle queue;
+#ifdef PIOS_TELEM_PRIORITY_QUEUE
+    // Priority telemetry queue
+    xQueueHandle priorityQueue;
+#endif /* PIOS_TELEM_PRIORITY_QUEUE */
+    // Transmit/receive task handles
+    xTaskHandle  txTaskHandle;
+    xTaskHandle  rxTaskHandle;
+    // Telemetry stream
+    UAVTalkConnection uavTalkCon;
+} channelContext;
 
-// Private variables
-static uint32_t telemetryPort;
-#ifdef PIOS_INCLUDE_RFM22B
-static uint32_t radioPort;
-#endif
-static xQueueHandle queue;
+// Main telemetry channel
+static channelContext localChannel;
+static int32_t transmitLocalData(uint8_t *data, int32_t length);
+static void registerLocalObject(UAVObjHandle obj);
+static uint32_t localPort();
 
-#if defined(PIOS_TELEM_PRIORITY_QUEUE)
-static xQueueHandle priorityQueue;
-#else
-#define priorityQueue queue
-#endif
+// OPLink telemetry channel
+static channelContext radioChannel;
+static int32_t transmitRadioData(uint8_t *data, int32_t length);
+static void registerRadioObject(UAVObjHandle obj);
+static uint32_t radioPort();
 
-static xTaskHandle telemetryTxTaskHandle;
-static xTaskHandle telemetryRxTaskHandle;
-#ifdef PIOS_INCLUDE_RFM22B
-static xTaskHandle radioRxTaskHandle;
-#endif
+// Telemetry stats
 static uint32_t txErrors;
 static uint32_t txRetries;
 static uint32_t timeOfLastObjectUpdate;
-static UAVTalkConnection uavTalkCon;
-#ifdef PIOS_INCLUDE_RFM22B
-static UAVTalkConnection radioUavTalkCon;
-#endif
 
-// Private functions
 static void telemetryTxTask(void *parameters);
 static void telemetryRxTask(void *parameters);
-#ifdef PIOS_INCLUDE_RFM22B
-static void radioRxTask(void *parameters);
-static int32_t transmitRadioData(uint8_t *data, int32_t length);
-#endif
-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 setUpdatePeriod(UAVObjHandle obj, int32_t updatePeriodMs);
-static int32_t setLoggingPeriod(UAVObjHandle obj, int32_t updatePeriodMs);
-static void processObjEvent(UAVObjEvent *ev);
+static void updateObject(
+    channelContext *channel,
+    UAVObjHandle obj,
+    int32_t eventType);
+static void processObjEvent(
+    channelContext *channel,
+    UAVObjEvent *ev);
+static int32_t setUpdatePeriod(
+    channelContext *channel,
+    UAVObjHandle obj,
+    int32_t updatePeriodMs);
+static int32_t setLoggingPeriod(
+    channelContext *channel,
+    UAVObjHandle obj,
+    int32_t updatePeriodMs);
 static void updateTelemetryStats();
 static void gcsTelemetryStatsUpdated();
-static void updateSettings();
-static uint32_t getComPort(bool input);
+static void updateSettings(channelContext *channel);
 
 /**
  * Initialise the telemetry module
@@ -117,28 +157,94 @@ static uint32_t getComPort(bool input);
  */
 int32_t TelemetryStart(void)
 {
-    // Process all registered objects and connect queue for updates
-    UAVObjIterate(&registerObject);
+    // Only start the local telemetry tasks if needed
+    if (localPort()) {
+        UAVObjIterate(&registerLocalObject);
+
+        // Listen to objects of interest
+#ifdef PIOS_TELEM_PRIORITY_QUEUE
+        GCSTelemetryStatsConnectQueue(localChannel.priorityQueue);
+#else /* PIOS_TELEM_PRIORITY_QUEUE */
+        GCSTelemetryStatsConnectQueue(localChannel.queue);
+#endif /* PIOS_TELEM_PRIORITY_QUEUE */
+        // Start telemetry tasks
+        xTaskCreate(telemetryTxTask,
+                    "TelTx",
+                    STACK_SIZE_TX_BYTES / 4,
+                    &localChannel,
+                    TASK_PRIORITY_TX,
+                    &localChannel.txTaskHandle);
+        PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_TELEMETRYTX,
+                                       localChannel.txTaskHandle);
+        xTaskCreate(telemetryRxTask,
+                    "TelRx",
+                    STACK_SIZE_RX_BYTES / 4,
+                    &localChannel,
+                    TASK_PRIORITY_RX,
+                    &localChannel.rxTaskHandle);
+        PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_TELEMETRYRX,
+                                       localChannel.rxTaskHandle);
+    }
+
+    // Start the telemetry tasks associated with Radio/USB
+    UAVObjIterate(&registerRadioObject);
 
     // Listen to objects of interest
-    GCSTelemetryStatsConnectQueue(priorityQueue);
+#ifdef PIOS_TELEM_PRIORITY_QUEUE
+    GCSTelemetryStatsConnectQueue(radioChannel.priorityQueue);
+#else /* PIOS_TELEM_PRIORITY_QUEUE */
+    GCSTelemetryStatsConnectQueue(radioChannel.queue);
+#endif /* PIOS_TELEM_PRIORITY_QUEUE */
 
-    // Start telemetry tasks
-    xTaskCreate(telemetryTxTask, "TelTx", STACK_SIZE_TX_BYTES / 4, NULL, TASK_PRIORITY_TX, &telemetryTxTaskHandle);
-    PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_TELEMETRYTX, telemetryTxTaskHandle);
-    xTaskCreate(telemetryRxTask, "TelRx", STACK_SIZE_RX_BYTES / 4, NULL, TASK_PRIORITY_RX, &telemetryRxTaskHandle);
-    PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_TELEMETRYRX, telemetryRxTaskHandle);
-
-#ifdef PIOS_INCLUDE_RFM22B
-    if (radioPort) {
-        xTaskCreate(radioRxTask, "RadioRx", STACK_SIZE_RADIO_RX_BYTES / 4, NULL, TASK_PRIORITY_RADRX, &radioRxTaskHandle);
-        PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_RADIORX, radioRxTaskHandle);
-    }
-#endif
+    xTaskCreate(telemetryTxTask,
+                "RadioTx",
+                STACK_SIZE_RADIO_TX_BYTES / 4,
+                &radioChannel,
+                TASK_PRIORITY_RADTX,
+                &radioChannel.txTaskHandle);
+    PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_RADIOTX,
+                                   radioChannel.txTaskHandle);
+    xTaskCreate(telemetryRxTask,
+                "RadioRx",
+                STACK_SIZE_RADIO_RX_BYTES / 4,
+                &radioChannel,
+                TASK_PRIORITY_RADRX,
+                &radioChannel.rxTaskHandle);
+    PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_RADIORX,
+                                   radioChannel.rxTaskHandle);
 
     return 0;
 }
 
+/* Intialise a telemetry channel */
+void TelemetryInitializeChannel(channelContext *channel)
+{
+    // Create object queues
+    channel->queue = xQueueCreate(MAX_QUEUE_SIZE,
+                                  sizeof(UAVObjEvent));
+#if defined(PIOS_TELEM_PRIORITY_QUEUE)
+    channel->priorityQueue = xQueueCreate(MAX_QUEUE_SIZE,
+                                          sizeof(UAVObjEvent));
+#endif /* PIOS_TELEM_PRIORITY_QUEUE */
+
+    // Initialise UAVTalk
+    channel->uavTalkCon = UAVTalkInitialize(&transmitLocalData);
+
+    // Create periodic event that will be used to update the telemetry stats
+    UAVObjEvent ev;
+    memset(&ev, 0, sizeof(UAVObjEvent));
+
+#ifdef PIOS_TELEM_PRIORITY_QUEUE
+    EventPeriodicQueueCreate(&ev,
+                             channel->priorityQueue,
+                             STATS_UPDATE_PERIOD_MS);
+#else /* PIOS_TELEM_PRIORITY_QUEUE */
+    EventPeriodicQueueCreate(&ev,
+                             channel->queue,
+                             STATS_UPDATE_PERIOD_MS);
+#endif /* PIOS_TELEM_PRIORITY_QUEUE */
+}
+
 /**
  * Initialise the telemetry module
  * \return -1 if initialisation failed
@@ -146,39 +252,37 @@ int32_t TelemetryStart(void)
  */
 int32_t TelemetryInitialize(void)
 {
+    HwSettingsInitialize();
+
     FlightTelemetryStatsInitialize();
     GCSTelemetryStatsInitialize();
 
     // Initialize vars
     timeOfLastObjectUpdate = 0;
 
-    // Create object queues
-    queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
-#if defined(PIOS_TELEM_PRIORITY_QUEUE)
-    priorityQueue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
-#endif
-
-    // Update telemetry settings
-    telemetryPort = PIOS_COM_TELEM_RF;
-#ifdef PIOS_INCLUDE_RFM22B
-    radioPort     = PIOS_COM_RF;
-#endif
-    HwSettingsInitialize();
-    updateSettings();
-
-    // Initialise UAVTalk
-    uavTalkCon = UAVTalkInitialize(&transmitData);
-#ifdef PIOS_INCLUDE_RFM22B
-    radioUavTalkCon = UAVTalkInitialize(&transmitRadioData);
-#endif
-
-    // Create periodic event that will be used to update the telemetry stats
-    // FIXME STATS_UPDATE_PERIOD_MS is 4000ms while FlighTelemetryStats update period is 5000ms...
+    // Reset link stats
     txErrors  = 0;
     txRetries = 0;
-    UAVObjEvent ev;
-    memset(&ev, 0, sizeof(UAVObjEvent));
-    EventPeriodicQueueCreate(&ev, priorityQueue, STATS_UPDATE_PERIOD_MS);
+
+    // Set channel port handlers
+    localChannel.getPort = localPort;
+    radioChannel.getPort = radioPort;
+
+    // Set the local telemetry baud rate
+    updateSettings(&localChannel);
+
+    // Only initialise local channel if telemetry port enabled
+    if (localPort()) {
+        // Initialise channel
+        TelemetryInitializeChannel(&localChannel);
+        // Initialise UAVTalk
+        localChannel.uavTalkCon = UAVTalkInitialize(&transmitLocalData);
+    }
+
+    // Initialise channel
+    TelemetryInitializeChannel(&radioChannel);
+    // Initialise UAVTalk
+    radioChannel.uavTalkCon = UAVTalkInitialize(&transmitRadioData);
 
     return 0;
 }
@@ -190,22 +294,51 @@ MODULE_INITCALL(TelemetryInitialize, TelemetryStart);
  * telemetry settings.
  * \param[in] obj Object to connect
  */
-static void registerObject(UAVObjHandle obj)
+static void registerLocalObject(UAVObjHandle obj)
 {
     if (UAVObjIsMetaobject(obj)) {
         // Only connect change notifications for meta objects.  No periodic updates
-        UAVObjConnectQueue(obj, priorityQueue, EV_MASK_ALL_UPDATES);
+#ifdef PIOS_TELEM_PRIORITY_QUEUE
+        UAVObjConnectQueue(obj, localChannel.priorityQueue, EV_MASK_ALL_UPDATES);
+#else /* PIOS_TELEM_PRIORITY_QUEUE */
+        UAVObjConnectQueue(obj, localChannel.queue, EV_MASK_ALL_UPDATES);
+#endif /* PIOS_TELEM_PRIORITY_QUEUE */
     } else {
         // Setup object for periodic updates
-        updateObject(obj, EV_NONE);
+        updateObject(
+            &localChannel,
+            obj,
+            EV_NONE);
+    }
+}
+
+static void registerRadioObject(UAVObjHandle obj)
+{
+    if (UAVObjIsMetaobject(obj)) {
+        // Only connect change notifications for meta objects.  No periodic updates
+#ifdef PIOS_TELEM_PRIORITY_QUEUE
+        UAVObjConnectQueue(obj, radioChannel.priorityQueue, EV_MASK_ALL_UPDATES);
+#else /* PIOS_TELEM_PRIORITY_QUEUE */
+        UAVObjConnectQueue(obj, radioChannel.queue, EV_MASK_ALL_UPDATES);
+#endif /* PIOS_TELEM_PRIORITY_QUEUE */
+    } else {
+        // Setup object for periodic updates
+        updateObject(
+            &radioChannel,
+            obj,
+            EV_NONE);
     }
 }
 
 /**
  * Update object's queue connections and timer, depending on object's settings
+ * \param[in] telemetry channel context
  * \param[in] obj Object to updates
  */
-static void updateObject(UAVObjHandle obj, int32_t eventType)
+static void updateObject(
+    channelContext *channel,
+    UAVObjHandle obj,
+    int32_t eventType)
 {
     UAVObjMetadata metadata;
     UAVObjUpdateMode updateMode, loggingMode;
@@ -228,13 +361,15 @@ static void updateObject(UAVObjHandle obj, int32_t eventType)
     switch (updateMode) {
     case UPDATEMODE_PERIODIC:
         // Set update period
-        setUpdatePeriod(obj, metadata.telemetryUpdatePeriod);
+        setUpdatePeriod(channel,
+                        obj,
+                        metadata.telemetryUpdatePeriod);
         // Connect queue
         eventMask |= EV_UPDATED_PERIODIC | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
         break;
     case UPDATEMODE_ONCHANGE:
         // Set update period
-        setUpdatePeriod(obj, 0);
+        setUpdatePeriod(channel, obj, 0);
         // Connect queue
         eventMask |= EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
         break;
@@ -244,7 +379,9 @@ static void updateObject(UAVObjHandle obj, int32_t eventType)
             eventMask |= EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
             // Set update period on initialization and metadata change
             if (eventType == EV_NONE) {
-                setUpdatePeriod(obj, metadata.telemetryUpdatePeriod);
+                setUpdatePeriod(channel,
+                                obj,
+                                metadata.telemetryUpdatePeriod);
             }
         } else {
             // Otherwise, we just received an object update, so switch to periodic for the timeout period to prevent more updates
@@ -253,7 +390,7 @@ static void updateObject(UAVObjHandle obj, int32_t eventType)
         break;
     case UPDATEMODE_MANUAL:
         // Set update period
-        setUpdatePeriod(obj, 0);
+        setUpdatePeriod(channel, obj, 0);
         // Connect queue
         eventMask |= EV_UPDATED_MANUAL | EV_UPDATE_REQ;
         break;
@@ -261,13 +398,13 @@ static void updateObject(UAVObjHandle obj, int32_t eventType)
     switch (loggingMode) {
     case UPDATEMODE_PERIODIC:
         // Set update period
-        setLoggingPeriod(obj, metadata.loggingUpdatePeriod);
+        setLoggingPeriod(channel, obj, metadata.loggingUpdatePeriod);
         // Connect queue
         eventMask |= EV_LOGGING_PERIODIC | EV_LOGGING_MANUAL;
         break;
     case UPDATEMODE_ONCHANGE:
         // Set update period
-        setLoggingPeriod(obj, 0);
+        setLoggingPeriod(channel, obj, 0);
         // Connect queue
         eventMask |= EV_UPDATED | EV_LOGGING_MANUAL;
         break;
@@ -277,7 +414,9 @@ static void updateObject(UAVObjHandle obj, int32_t eventType)
             eventMask |= EV_UPDATED | EV_LOGGING_MANUAL;
             // Set update period on initialization and metadata change
             if (eventType == EV_NONE) {
-                setLoggingPeriod(obj, metadata.loggingUpdatePeriod);
+                setLoggingPeriod(channel,
+                                 obj,
+                                 metadata.loggingUpdatePeriod);
             }
         } else {
             // Otherwise, we just received an object update, so switch to periodic for the timeout period to prevent more updates
@@ -286,23 +425,28 @@ static void updateObject(UAVObjHandle obj, int32_t eventType)
         break;
     case UPDATEMODE_MANUAL:
         // Set update period
-        setLoggingPeriod(obj, 0);
+        setLoggingPeriod(channel, obj, 0);
         // Connect queue
         eventMask |= EV_LOGGING_MANUAL;
         break;
     }
+
     // note that all setting objects have implicitly IsPriority=true
+#ifdef PIOS_TELEM_PRIORITY_QUEUE
     if (UAVObjIsPriority(obj)) {
-        UAVObjConnectQueue(obj, priorityQueue, eventMask);
-    } else {
-        UAVObjConnectQueue(obj, queue, eventMask);
-    }
+        UAVObjConnectQueue(obj, channel->priorityQueue, eventMask);
+    } else
+#endif /* PIOS_TELEM_PRIORITY_QUEUE */
+    UAVObjConnectQueue(obj, channel->queue, eventMask);
 }
 
+
 /**
  * Processes queue events
  */
-static void processObjEvent(UAVObjEvent *ev)
+static void processObjEvent(
+    channelContext *channel,
+    UAVObjEvent *ev)
 {
     UAVObjMetadata metadata;
     UAVObjUpdateMode updateMode;
@@ -327,7 +471,10 @@ static void processObjEvent(UAVObjEvent *ev)
             // Send update to GCS (with retries)
             while (retries < MAX_RETRIES && success == -1) {
                 // call blocks until ack is received or timeout
-                success = UAVTalkSendObject(uavTalkCon, ev->obj, ev->instId, UAVObjGetTelemetryAcked(&metadata), REQ_TIMEOUT_MS);
+                success = UAVTalkSendObject(channel->uavTalkCon,
+                                            ev->obj,
+                                            ev->instId,
+                                            UAVObjGetTelemetryAcked(&metadata), REQ_TIMEOUT_MS);
                 if (success == -1) {
                     ++retries;
                 }
@@ -341,7 +488,10 @@ static void processObjEvent(UAVObjEvent *ev)
             // Request object update from GCS (with retries)
             while (retries < MAX_RETRIES && success == -1) {
                 // call blocks until update is received or timeout
-                success = UAVTalkSendObjectRequest(uavTalkCon, ev->obj, ev->instId, REQ_TIMEOUT_MS);
+                success = UAVTalkSendObjectRequest(channel->uavTalkCon,
+                                                   ev->obj,
+                                                   ev->instId,
+                                                   REQ_TIMEOUT_MS);
                 if (success == -1) {
                     ++retries;
                 }
@@ -355,11 +505,17 @@ static void processObjEvent(UAVObjEvent *ev)
         // If this is a metaobject then make necessary telemetry updates
         if (UAVObjIsMetaobject(ev->obj)) {
             // linked object will be the actual object the metadata are for
-            updateObject(UAVObjGetLinkedObj(ev->obj), EV_NONE);
+            updateObject(
+                channel,
+                UAVObjGetLinkedObj(ev->obj),
+                EV_NONE);
         } else {
             if (updateMode == UPDATEMODE_THROTTLED) {
                 // If this is UPDATEMODE_THROTTLED, the event mask changes on every event.
-                updateObject(ev->obj, ev->event);
+                updateObject(
+                    channel,
+                    ev->obj,
+                    ev->event);
             }
         }
     }
@@ -380,7 +536,10 @@ static void processObjEvent(UAVObjEvent *ev)
         }
         if (updateMode == UPDATEMODE_THROTTLED) {
             // If this is UPDATEMODE_THROTTLED, the event mask changes on every event.
-            updateObject(ev->obj, ev->event);
+            updateObject(
+                channel,
+                ev->obj,
+                ev->event);
         }
     }
 }
@@ -388,37 +547,43 @@ static void processObjEvent(UAVObjEvent *ev)
 /**
  * Telemetry transmit task, regular priority
  */
-static void telemetryTxTask(__attribute__((unused)) void *parameters)
+static void telemetryTxTask(void *parameters)
 {
+    channelContext *channel = (channelContext *)parameters;
     UAVObjEvent ev;
 
+    /* Check for a bad context */
+    if (!channel) {
+        return;
+    }
+
     // Loop forever
     while (1) {
         /**
          * Tries to empty the high priority queue before handling any standard priority item
          */
-#if defined(PIOS_TELEM_PRIORITY_QUEUE)
+#ifdef PIOS_TELEM_PRIORITY_QUEUE
         // empty priority queue, non-blocking
-        while (xQueueReceive(priorityQueue, &ev, 0) == pdTRUE) {
+        while (xQueueReceive(channel->priorityQueue, &ev, 0) == pdTRUE) {
             // Process event
-            processObjEvent(&ev);
+            processObjEvent(channel, &ev);
         }
         // check regular queue and process update - non-blocking
-        if (xQueueReceive(queue, &ev, 0) == pdTRUE) {
+        if (xQueueReceive(channel->queue, &ev, 0) == pdTRUE) {
             // Process event
-            processObjEvent(&ev);
+            processObjEvent(channel, &ev);
             // if both queues are empty, wait on priority queue for updates (1 tick) then repeat cycle
-        } else if (xQueueReceive(priorityQueue, &ev, 1) == pdTRUE) {
+        } else if (xQueueReceive(channel->priorityQueue, &ev, 1) == pdTRUE) {
             // Process event
-            processObjEvent(&ev);
+            processObjEvent(channel, &ev);
         }
 #else
         // wait on queue for updates (1 tick) then repeat cycle
-        if (xQueueReceive(queue, &ev, 1) == pdTRUE) {
+        if (xQueueReceive(channel->queue, &ev, 1) == pdTRUE) {
             // Process event
-            processObjEvent(&ev);
+            processObjEvent(channel, &ev);
         }
-#endif /* if defined(PIOS_TELEM_PRIORITY_QUEUE) */
+#endif /* PIOS_TELEM_PRIORITY_QUEUE */
     }
 }
 
@@ -426,11 +591,18 @@ static void telemetryTxTask(__attribute__((unused)) void *parameters)
 /**
  * Telemetry receive task. Processes queue events and periodic updates.
  */
-static void telemetryRxTask(__attribute__((unused)) void *parameters)
+static void telemetryRxTask(void *parameters)
 {
+    channelContext *channel = (channelContext *)parameters;
+
+    /* Check for a bad context */
+    if (!channel) {
+        return;
+    }
+
     // Task loop
     while (1) {
-        uint32_t inputPort = getComPort(true);
+        uint32_t inputPort = channel->getPort();
 
         if (inputPort) {
             // Block until data are available
@@ -439,7 +611,7 @@ static void telemetryRxTask(__attribute__((unused)) void *parameters)
 
             bytes_to_process = PIOS_COM_ReceiveBuffer(inputPort, serial_data, sizeof(serial_data), 500);
             if (bytes_to_process > 0) {
-                UAVTalkProcessInputStream(uavTalkCon, serial_data, bytes_to_process);
+                UAVTalkProcessInputStream(channel->uavTalkCon, serial_data, bytes_to_process);
             }
         } else {
             vTaskDelay(5);
@@ -447,28 +619,58 @@ static void telemetryRxTask(__attribute__((unused)) void *parameters)
     }
 }
 
-#ifdef PIOS_INCLUDE_RFM22B
+
 /**
- * Radio telemetry receive task. Processes queue events and periodic updates.
+ * Determine the port to be used for communication on the  telemetry channel
+ * \return com port number
  */
-static void radioRxTask(__attribute__((unused)) void *parameters)
+static uint32_t localPort()
 {
-    // Task loop
-    while (1) {
-        if (radioPort) {
-            // Block until data are available
-            uint8_t serial_data[16];
-            uint16_t bytes_to_process;
-
-            bytes_to_process = PIOS_COM_ReceiveBuffer(radioPort, serial_data, sizeof(serial_data), 500);
-            if (bytes_to_process > 0) {
-                UAVTalkProcessInputStream(radioUavTalkCon, serial_data, bytes_to_process);
-            }
-        } else {
-            vTaskDelay(5);
-        }
-    }
+    return PIOS_COM_TELEM_RF;
 }
+
+
+/**
+ * Determine the port to be used for communication on the radio channel
+ * \return com port number
+ */
+static uint32_t radioPort()
+{
+#ifdef PIOS_INCLUDE_RFM22B
+    uint32_t port = PIOS_COM_RF;
+#else /* PIOS_INCLUDE_RFM22B */
+    uint32_t port = 0;
+#endif /* PIOS_INCLUDE_RFM22B */
+#ifdef PIOS_INCLUDE_USB
+    // if USB is connected, USB takes precedence for telemetry
+    if (PIOS_COM_Available(PIOS_COM_TELEM_USB)) {
+        port = PIOS_COM_TELEM_USB;
+    }
+#endif /* PIOS_INCLUDE_USB */
+
+    return port;
+}
+
+
+/**
+ * Transmit data buffer to the modem or USB port.
+ * \param[in] data Data buffer to send
+ * \param[in] length Length of buffer
+ * \return -1 on failure
+ * \return number of bytes transmitted on success
+ */
+static int32_t transmitLocalData(uint8_t *data, int32_t length)
+{
+    uint32_t outputPort = localChannel.getPort();
+
+    if (outputPort) {
+        return PIOS_COM_SendBuffer(outputPort, data, length);
+    }
+
+    return -1;
+}
+
+
 /**
  * Transmit data buffer to the radioport.
  * \param[in] data Data buffer to send
@@ -478,24 +680,7 @@ static void radioRxTask(__attribute__((unused)) void *parameters)
  */
 static int32_t transmitRadioData(uint8_t *data, int32_t length)
 {
-    if (radioPort) {
-        return PIOS_COM_SendBuffer(radioPort, data, length);
-    }
-
-    return -1;
-}
-#endif /* PIOS_INCLUDE_RFM22B */
-
-/**
- * Transmit data buffer to the modem or USB port.
- * \param[in] data Data buffer to send
- * \param[in] length Length of buffer
- * \return -1 on failure
- * \return number of bytes transmitted on success
- */
-static int32_t transmitData(uint8_t *data, int32_t length)
-{
-    uint32_t outputPort = getComPort(false);
+    uint32_t outputPort = radioChannel.getPort();
 
     if (outputPort) {
         return PIOS_COM_SendBuffer(outputPort, data, length);
@@ -506,12 +691,16 @@ static int32_t transmitData(uint8_t *data, int32_t length)
 
 /**
  * Set update period of object (it must be already setup for periodic updates)
+ * \param[in] telemetry channel context
  * \param[in] obj The object to update
  * \param[in] updatePeriodMs The update period in ms, if zero then periodic updates are disabled
  * \return 0 Success
  * \return -1 Failure
  */
-static int32_t setUpdatePeriod(UAVObjHandle obj, int32_t updatePeriodMs)
+static int32_t setUpdatePeriod(
+    channelContext *channel,
+    UAVObjHandle obj,
+    int32_t updatePeriodMs)
 {
     UAVObjEvent ev;
     int32_t ret;
@@ -522,7 +711,12 @@ static int32_t setUpdatePeriod(UAVObjHandle obj, int32_t updatePeriodMs)
     ev.event  = EV_UPDATED_PERIODIC;
     ev.lowPriority = true;
 
-    xQueueHandle targetQueue = UAVObjIsPriority(obj) ? priorityQueue : queue;
+#ifdef PIOS_TELEM_PRIORITY_QUEUE
+    xQueueHandle targetQueue = UAVObjIsPriority(obj) ? channel->priorityQueue :
+                               channel->queue;
+#else /* PIOS_TELEM_PRIORITY_QUEUE */
+    xQueueHandle targetQueue = channel->queue;
+#endif /* PIOS_TELEM_PRIORITY_QUEUE */
 
     ret = EventPeriodicQueueUpdate(&ev, targetQueue, updatePeriodMs);
     if (ret == -1) {
@@ -533,12 +727,16 @@ static int32_t setUpdatePeriod(UAVObjHandle obj, int32_t updatePeriodMs)
 
 /**
  * Set logging update period of object (it must be already setup for periodic updates)
+ * \param[in] telemetry channel context
  * \param[in] obj The object to update
  * \param[in] updatePeriodMs The update period in ms, if zero then periodic updates are disabled
  * \return 0 Success
  * \return -1 Failure
  */
-static int32_t setLoggingPeriod(UAVObjHandle obj, int32_t updatePeriodMs)
+static int32_t setLoggingPeriod(
+    channelContext *channel,
+    UAVObjHandle obj,
+    int32_t updatePeriodMs)
 {
     UAVObjEvent ev;
     int32_t ret;
@@ -549,7 +747,12 @@ static int32_t setLoggingPeriod(UAVObjHandle obj, int32_t updatePeriodMs)
     ev.event  = EV_LOGGING_PERIODIC;
     ev.lowPriority = true;
 
-    xQueueHandle targetQueue = UAVObjIsPriority(obj) ? priorityQueue : queue;
+#ifdef PIOS_TELEM_PRIORITY_QUEUE
+    xQueueHandle targetQueue = UAVObjIsPriority(obj) ? channel->priorityQueue :
+                               channel->queue;
+#else /* PIOS_TELEM_PRIORITY_QUEUE */
+    xQueueHandle targetQueue = channel->queue;
+#endif /* PIOS_TELEM_PRIORITY_QUEUE */
 
     ret = EventPeriodicQueueUpdate(&ev, targetQueue, updatePeriodMs);
     if (ret == -1) {
@@ -588,10 +791,8 @@ static void updateTelemetryStats()
     uint32_t timeNow;
 
     // Get stats
-    UAVTalkGetStats(uavTalkCon, &utalkStats, true);
-#ifdef PIOS_INCLUDE_RFM22B
-    UAVTalkAddStats(radioUavTalkCon, &utalkStats, true);
-#endif
+    UAVTalkGetStats(localChannel.uavTalkCon, &utalkStats, true);
+    UAVTalkAddStats(radioChannel.uavTalkCon, &utalkStats, true);
 
     // Get object data
     FlightTelemetryStatsGet(&flightStats);
@@ -681,9 +882,11 @@ static void updateTelemetryStats()
  * settings, etc. Thus the HwSettings object which contains the
  * telemetry port speed is used for now.
  */
-static void updateSettings()
+static void updateSettings(channelContext *channel)
 {
-    if (telemetryPort) {
+    uint32_t port = channel->getPort();
+
+    if (port) {
         // Retrieve settings
         HwSettingsTelemetrySpeedOptions speed;
         HwSettingsTelemetrySpeedGet(&speed);
@@ -691,58 +894,30 @@ static void updateSettings()
         // Set port speed
         switch (speed) {
         case HWSETTINGS_TELEMETRYSPEED_2400:
-            PIOS_COM_ChangeBaud(telemetryPort, 2400);
+            PIOS_COM_ChangeBaud(port, 2400);
             break;
         case HWSETTINGS_TELEMETRYSPEED_4800:
-            PIOS_COM_ChangeBaud(telemetryPort, 4800);
+            PIOS_COM_ChangeBaud(port, 4800);
             break;
         case HWSETTINGS_TELEMETRYSPEED_9600:
-            PIOS_COM_ChangeBaud(telemetryPort, 9600);
+            PIOS_COM_ChangeBaud(port, 9600);
             break;
         case HWSETTINGS_TELEMETRYSPEED_19200:
-            PIOS_COM_ChangeBaud(telemetryPort, 19200);
+            PIOS_COM_ChangeBaud(port, 19200);
             break;
         case HWSETTINGS_TELEMETRYSPEED_38400:
-            PIOS_COM_ChangeBaud(telemetryPort, 38400);
+            PIOS_COM_ChangeBaud(port, 38400);
             break;
         case HWSETTINGS_TELEMETRYSPEED_57600:
-            PIOS_COM_ChangeBaud(telemetryPort, 57600);
+            PIOS_COM_ChangeBaud(port, 57600);
             break;
         case HWSETTINGS_TELEMETRYSPEED_115200:
-            PIOS_COM_ChangeBaud(telemetryPort, 115200);
+            PIOS_COM_ChangeBaud(port, 115200);
             break;
         }
     }
 }
 
-/**
- * Determine input/output com port as highest priority available
- * @param[in] input Returns the approproate input com port if true, else the appropriate output com port
- */
-#ifdef PIOS_INCLUDE_RFM22B
-static uint32_t getComPort(bool input)
-#else
-static uint32_t getComPort(__attribute__((unused)) bool input)
-#endif
-{
-#if defined(PIOS_INCLUDE_USB)
-    // if USB is connected, USB takes precedence for telemetry
-    if (PIOS_COM_Available(PIOS_COM_TELEM_USB)) {
-        return PIOS_COM_TELEM_USB;
-    } else
-#endif /* PIOS_INCLUDE_USB */
-#ifdef PIOS_INCLUDE_RFM22B
-    // PIOS_COM_RF input is handled by a separate RX thread and therefore must be ignored
-    if (input && telemetryPort == PIOS_COM_RF) {
-        return 0;
-    } else
-#endif /* PIOS_INCLUDE_RFM22B */
-    if (PIOS_COM_Available(telemetryPort)) {
-        return telemetryPort;
-    } else {
-        return 0;
-    }
-}
 
 /**
  * @}

flight/modules/gpsp/gps9maghandler.c

@@ -49,9 +49,8 @@ void handleMag()
 
     if (PIOS_HMC5x83_ReadMag(onboard_mag, mag) == 0) {
         MagUbxPkt magPkt;
-        // swap axis so that if side with connector is aligned to revo side with connectors, mags data are aligned
-        magPkt.fragments.data.X = -mag[1];
-        magPkt.fragments.data.Y = mag[0];
+        magPkt.fragments.data.X = mag[0];
+        magPkt.fragments.data.Y = mag[1];
         magPkt.fragments.data.Z = mag[2];
         magPkt.fragments.data.status = 1;
         ubx_buildPacket(&magPkt.packet, UBX_OP_CUST_CLASS, UBX_OP_MAG, sizeof(MagData));

flight/pios/common/libraries/msheap/msheap.c

@@ -194,13 +194,18 @@ msheap_init(heap_handle_t *heap, void *base, void *limit)
 }
 
 void *
-msheap_alloc(heap_handle_t *heap, uint32_t size)
+msheap_alloc(heap_handle_t *heap, void *ptr, uint32_t size)
 {
     marker_t    cursor;
     marker_t    best;
+    uint32_t    copy_data = 0;
+    uint16_t    old_size = 0;
 
     ASSERT(3, msheap_check(heap));
 
+    if (size == 0)
+        return 0;
+
     /* convert the passed-in size to the number of marker-size units we need to allocate */
     size += marker_size;
     size = round_up(size, marker_size);
@@ -210,6 +215,39 @@ msheap_alloc(heap_handle_t *heap, uint32_t size)
     if (size > heap->heap_free)
         return 0;
 
+    /* realloc */
+    if (ptr != 0) {
+
+        best = (marker_t)ptr - 1;
+        ASSERT(0, region_check(heap, best));
+        ASSERT(3, msheap_check(heap));
+
+#ifdef HEAP_REALLOC_FREE_UNUSED_AREA
+
+        if (best->next.size == size)
+            goto done;
+
+        if (best->next.size > size) {
+            /* this region is free, mark it accordingly */
+            best->next.free = 1;
+            (best + best->next.size)->prev.free = 1;
+
+            traceFREE( ptr, best->next.size );
+
+            /* account for space we are freeing */
+            heap->heap_free += best->next.size;
+
+            goto split;
+        }
+#else
+        if (best->next.size >= size)
+            goto done;
+#endif
+        old_size = best->next.size;
+        msheap_free(heap, ptr);
+        copy_data = 1;
+    }
+
     /* simple single-pass best-fit search */
 restart:
     cursor = heap->free_hint;
@@ -242,13 +280,28 @@ restart:
         /* no space */
         return 0;
     }
+#ifdef HEAP_REALLOC_FREE_UNUSED_AREA
+split:
+#endif
 
     /* split the free region to make space */
     split_region(heap, best, size);
 
     /* update free space counter */
     heap->heap_free -= size;
+
+done:
     traceMALLOC( (void *)(best + 1), size );
+
+    /* Copy data that might be reused */
+    if (copy_data && ptr) {
+        size = old_size;
+        size = size - 1;
+        size *= marker_size;
+        for(uint32_t i=0 ; i < size; i++)
+            ((uint8_t *)(best + 1))[i] = ((uint8_t *)ptr)[i];
+    }
+
     /* and return a pointer to the allocated region */
     return (void *)(best + 1);
 }

flight/pios/common/libraries/msheap/msheap.h

@@ -116,7 +116,7 @@ extern void msheap_init(heap_handle_t *heap, void *base, void *limit);
  *
  * @param   size        The number of bytes required (more may be allocated).
  */
-extern void *msheap_alloc(heap_handle_t *heap, uint32_t size);
+extern void *msheap_alloc(heap_handle_t *heap, void *ptr, uint32_t size);
 
 /**
  * Free memory back to the heap.

flight/pios/common/libraries/msheap/pios_msheap.c

@@ -74,15 +74,15 @@ heap_handle_t fast_heap;
 extern void vApplicationMallocFailedHook(void) __attribute__((weak));
 
 void *
-pios_general_malloc(size_t s, bool use_fast_heap)
+pios_general_malloc(void *ptr, size_t s, bool use_fast_heap)
 {
 	void *p;
 
 	vPortEnterCritical();
 	if(use_fast_heap){
-		p = msheap_alloc(&fast_heap, s);
+		p = msheap_alloc(&fast_heap, ptr, s);
 	} else {
-		p = msheap_alloc(&sram_heap, s);
+		p = msheap_alloc(&sram_heap, ptr, s);
 	}
 	vPortExitCritical();
 
@@ -95,13 +95,13 @@ pios_general_malloc(size_t s, bool use_fast_heap)
 void *
 pvPortMalloc(size_t s)
 {
-	return pios_general_malloc(s, true);
+	return pios_general_malloc(NULL, s, true);
 }
 
 void *
 pvPortMallocStack(size_t s)
 {
-	return pios_general_malloc(s, false);
+	return pios_general_malloc(NULL, s, false);
 }
 
 void
@@ -154,7 +154,7 @@ malloc(size_t size)
 		heap_init_done = 1;
 	}
 
-	return msheap_alloc(sram_heap, size);
+	return msheap_alloc(NULL, sram_heap, size);
 }
 
 void

flight/pios/common/pios_hmc5x83.c

@@ -224,7 +224,7 @@ int32_t PIOS_HMC5x83_ReadMag(pios_hmc5x83_dev_t handler, int16_t out[3])
 
     dev->data_ready = false;
     uint8_t buffer[6];
-    int32_t temp;
+    int16_t temp[3];
     int32_t sensitivity;
 
     if (dev->cfg->Driver->Read(handler, PIOS_HMC5x83_DATAOUT_XMSB_REG, buffer, 6) != 0) {
@@ -259,16 +259,54 @@ int32_t PIOS_HMC5x83_ReadMag(pios_hmc5x83_dev_t handler, int16_t out[3])
     default:
         PIOS_Assert(0);
     }
-
     for (int i = 0; i < 3; i++) {
-        temp   = ((int16_t)((uint16_t)buffer[2 * i] << 8)
-                  + buffer[2 * i + 1]) * 1000 / sensitivity;
-        out[i] = temp;
+        int16_t v = ((int16_t)((uint16_t)buffer[2 * i] << 8)
+                     + buffer[2 * i + 1]) * 1000 / sensitivity;
+        temp[i] = v;
+    }
+
+    switch (dev->cfg->Orientation) {
+    case PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP:
+        out[0] = temp[2];
+        out[1] = temp[0];
+        out[2] = -temp[1];
+        break;
+    case PIOS_HMC5X83_ORIENTATION_SOUTH_EAST_UP:
+        out[0] = -temp[0];
+        out[1] = temp[2];
+        out[2] = -temp[1];
+        break;
+    case PIOS_HMC5X83_ORIENTATION_WEST_SOUTH_UP:
+        out[0] = -temp[2];
+        out[1] = -temp[0];
+        out[2] = -temp[1];
+        break;
+    case PIOS_HMC5X83_ORIENTATION_NORTH_WEST_UP:
+        out[0] = temp[0];
+        out[1] = -temp[2];
+        out[2] = -temp[1];
+        break;
+    case PIOS_HMC5X83_ORIENTATION_EAST_SOUTH_DOWN:
+        out[0] = temp[2];
+        out[1] = -temp[0];
+        out[2] = temp[1];
+        break;
+    case PIOS_HMC5X83_ORIENTATION_SOUTH_WEST_DOWN:
+        out[0] = -temp[0];
+        out[1] = -temp[2];
+        out[2] = temp[1];
+        break;
+    case PIOS_HMC5X83_ORIENTATION_WEST_NORTH_DOWN:
+        out[0] = -temp[2];
+        out[1] = temp[0];
+        out[2] = temp[1];
+        break;
+    case PIOS_HMC5X83_ORIENTATION_NORTH_EAST_DOWN:
+        out[0] = temp[0];
+        out[1] = temp[2];
+        out[2] = temp[1];
+        break;
     }
-    // Data reads out as X,Z,Y
-    temp   = out[2];
-    out[2] = out[1];
-    out[1] = temp;
 
     // This should not be necessary but for some reason it is coming out of continuous conversion mode
     dev->cfg->Driver->Write(handler, PIOS_HMC5x83_MODE_REG, PIOS_HMC5x83_MODE_CONTINUOUS);

flight/pios/common/pios_mem.c

@@ -29,17 +29,32 @@
 
 #ifdef PIOS_TARGET_PROVIDES_FAST_HEAP
 // relies on pios_general_malloc to perform the allocation (i.e. pios_msheap.c)
-extern void *pios_general_malloc(size_t size, bool fastheap);
+extern void *pios_general_malloc(void *ptr, size_t size, bool fastheap);
 
 void *pios_fastheapmalloc(size_t size)
 {
-    return pios_general_malloc(size, true);
+    return pios_general_malloc(NULL, size, true);
 }
 
 
 void *pios_malloc(size_t size)
 {
-    return pios_general_malloc(size, false);
+    return pios_general_malloc(NULL, size, false);
+}
+
+void *pios_realloc(__attribute__((unused)) void *ptr, __attribute__((unused)) size_t size)
+{
+#ifdef PIOS_INCLUDE_REALLOC
+    return pios_general_malloc(ptr, size, false);
+
+#else
+    // Not allowed to use realloc without the proper define PIOS_INCLUDE_REALLOC set
+    while (1) {
+        ;
+    }
+    return NULL;
+
+#endif
 }
 
 void pios_free(void *p)
@@ -47,7 +62,7 @@ void pios_free(void *p)
     vPortFree(p);
 }
 
-#else
+#else /* ifdef PIOS_TARGET_PROVIDES_FAST_HEAP */
 // demand to pvPortMalloc implementation
 void *pios_fastheapmalloc(size_t size)
 {
@@ -60,6 +75,21 @@ void *pios_malloc(size_t size)
     return pvPortMalloc(size);
 }
 
+void *pios_realloc(__attribute__((unused)) void *ptr, __attribute__((unused)) size_t size)
+{
+#ifdef PIOS_INCLUDE_REALLOC
+    return pvPortMalloc(size);
+
+#else
+    // Not allowed to use realloc without the proper define PIOS_INCLUDE_REALLOC set
+    while (1) {
+        ;
+    }
+    return NULL;
+
+#endif
+}
+
 void pios_free(void *p)
 {
     vPortFree(p);

flight/pios/inc/pios_adc.h

@@ -38,6 +38,7 @@ typedef void (*ADCCallback)(float *data);
 
 /* Public Functions */
 void PIOS_ADC_Config(uint32_t oversampling);
+void PIOS_ADC_PinSetup(uint32_t pin);
 int32_t PIOS_ADC_PinGet(uint32_t pin);
 float PIOS_ADC_PinGetVolt(uint32_t pin);
 int16_t *PIOS_ADC_GetRawBuffer(void);

flight/pios/inc/pios_hmc5x83.h

@@ -109,6 +109,18 @@ extern const struct pios_hmc5x83_io_driver PIOS_HMC5x83_SPI_DRIVER;
 #ifdef PIOS_INCLUDE_I2C
 extern const struct pios_hmc5x83_io_driver PIOS_HMC5x83_I2C_DRIVER;
 #endif
+// xyz axis orientation
+enum PIOS_HMC5X83_ORIENTATION {
+    PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP,
+    PIOS_HMC5X83_ORIENTATION_SOUTH_EAST_UP,
+    PIOS_HMC5X83_ORIENTATION_WEST_SOUTH_UP,
+    PIOS_HMC5X83_ORIENTATION_NORTH_WEST_UP,
+    PIOS_HMC5X83_ORIENTATION_EAST_SOUTH_DOWN,
+    PIOS_HMC5X83_ORIENTATION_SOUTH_WEST_DOWN,
+    PIOS_HMC5X83_ORIENTATION_WEST_NORTH_DOWN,
+    PIOS_HMC5X83_ORIENTATION_NORTH_EAST_DOWN,
+};
+
 
 struct pios_hmc5x83_cfg {
 #ifdef PIOS_HMC5X83_HAS_GPIOS
@@ -119,6 +131,7 @@ struct pios_hmc5x83_cfg {
     uint8_t Gain; // Gain Configuration, select the full scale --> here below the relative define (See datasheet page 11 for more details) */
     uint8_t Mode;
     bool    TempCompensation; // enable temperature sensor on HMC5983 for temperature gain compensation
+    enum PIOS_HMC5X83_ORIENTATION Orientation;
     const struct pios_hmc5x83_io_driver *Driver;
 };
 

flight/pios/inc/pios_instrumentation.h

@@ -47,7 +47,7 @@ extern int8_t pios_instrumentation_last_used_counter;
  * @param counter_handle handle of the counter to update @see PIOS_Instrumentation_SearchCounter @see PIOS_Instrumentation_CreateCounter
  * @param newValue the updated value.
  */
-inline void PIOS_Instrumentation_updateCounter(pios_counter_t counter_handle, int32_t newValue)
+static inline void PIOS_Instrumentation_updateCounter(pios_counter_t counter_handle, int32_t newValue)
 {
     PIOS_Assert(pios_instrumentation_perf_counters && counter_handle);
     vPortEnterCritical();
@@ -69,7 +69,7 @@ inline void PIOS_Instrumentation_updateCounter(pios_counter_t counter_handle, in
  * Used to determine the time duration of a code block, mark the begin of the block. @see PIOS_Instrumentation_TimeEnd
  * @param counter_handle handle of the counter @see PIOS_Instrumentation_SearchCounter @see PIOS_Instrumentation_CreateCounter
  */
-inline void PIOS_Instrumentation_TimeStart(pios_counter_t counter_handle)
+static inline void PIOS_Instrumentation_TimeStart(pios_counter_t counter_handle)
 {
     PIOS_Assert(pios_instrumentation_perf_counters && counter_handle);
     vPortEnterCritical();
@@ -83,7 +83,7 @@ inline void PIOS_Instrumentation_TimeStart(pios_counter_t counter_handle)
  * Used to determine the time duration of a code block, mark the end of the block. @see PIOS_Instrumentation_TimeStart
  * @param counter_handle handle of the counter @see PIOS_Instrumentation_SearchCounter @see PIOS_Instrumentation_CreateCounter
  */
-inline void PIOS_Instrumentation_TimeEnd(pios_counter_t counter_handle)
+static inline void PIOS_Instrumentation_TimeEnd(pios_counter_t counter_handle)
 {
     PIOS_Assert(pios_instrumentation_perf_counters && counter_handle);
     vPortEnterCritical();
@@ -106,7 +106,7 @@ inline void PIOS_Instrumentation_TimeEnd(pios_counter_t counter_handle)
  * Used to determine the mean period between each call to the function
  * @param counter_handle handle of the counter @see PIOS_Instrumentation_SearchCounter @see PIOS_Instrumentation_CreateCounter
  */
-inline void PIOS_Instrumentation_TrackPeriod(pios_counter_t counter_handle)
+static inline void PIOS_Instrumentation_TrackPeriod(pios_counter_t counter_handle)
 {
     PIOS_Assert(pios_instrumentation_perf_counters && counter_handle);
     pios_perf_counter_t *counter = (pios_perf_counter_t *)counter_handle;

flight/pios/inc/pios_mem.h

@@ -32,6 +32,8 @@ void *pios_fastheapmalloc(size_t size);
 
 void *pios_malloc(size_t size);
 
+void *pios_realloc(void *ptr, size_t size);
+
 void pios_free(void *p);
 
 #endif /* PIOS_MEM_H */

flight/pios/stm32f10x/pios_pwm.c

@@ -209,9 +209,7 @@ static void PIOS_PWM_tim_overflow_cb(__attribute__((unused)) uint32_t tim_id, ui
         /* Channel out of range */
         return;
     }
-    if (!pwm_dev->CaptureState[channel]) {
-        return;
-    }
+
     pwm_dev->us_since_update[channel] += count;
     if (pwm_dev->us_since_update[channel] >= PWM_SUPERVISOR_TIMEOUT) {
         pwm_dev->CaptureState[channel]    = 0;

flight/pios/stm32f4xx/pios_adc.c

@@ -99,10 +99,11 @@ static void init_dma(void);
 static void init_adc(void);
 #endif
 
-struct dma_config {
+struct pios_adc_pin_config {
     GPIO_TypeDef *port;
     uint32_t     pin;
     uint32_t     channel;
+    bool initialize;
 };
 
 struct adc_accumulator {
@@ -111,7 +112,7 @@ struct adc_accumulator {
 };
 
 #if defined(PIOS_INCLUDE_ADC)
-static const struct dma_config config[] = PIOS_DMA_PIN_CONFIG;
+static const struct pios_adc_pin_config config[] = PIOS_DMA_PIN_CONFIG;
 #define PIOS_ADC_NUM_PINS (sizeof(config) / sizeof(config[0]))
 
 static struct adc_accumulator accumulator[PIOS_ADC_NUM_PINS];
@@ -123,18 +124,11 @@ static uint16_t adc_raw_buffer[2][PIOS_ADC_MAX_SAMPLES][PIOS_ADC_NUM_PINS];
 #if defined(PIOS_INCLUDE_ADC)
 static void init_pins(void)
 {
-    /* Setup analog pins */
-    GPIO_InitTypeDef GPIO_InitStructure;
-
-    GPIO_StructInit(&GPIO_InitStructure);
-    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
-    GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_AN;
     for (uint32_t i = 0; i < PIOS_ADC_NUM_PINS; ++i) {
-        if (config[i].port == NULL) {
+        if (!config[i].initialize) {
             continue;
         }
-        GPIO_InitStructure.GPIO_Pin = config[i].pin;
-        GPIO_Init(config[i].port, &GPIO_InitStructure);
+        PIOS_ADC_PinSetup(i);
     }
 }
 
@@ -454,6 +448,19 @@ void PIOS_ADC_DMA_Handler(void)
 #endif
 }
 
+void PIOS_ADC_PinSetup(uint32_t pin)
+{
+    if (config[pin].port != NULL && pin < PIOS_ADC_NUM_PINS) {
+        /* Setup analog pin */
+        GPIO_InitTypeDef GPIO_InitStructure;
+
+        GPIO_StructInit(&GPIO_InitStructure);
+        GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
+        GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_AN;
+        GPIO_InitStructure.GPIO_Pin   = config[pin].pin;
+        GPIO_Init(config[pin].port, &GPIO_InitStructure);
+    }
+}
 #endif /* PIOS_INCLUDE_ADC */
 
 /**

flight/targets/boards/discoveryf4bare/firmware/pios_board.c

@@ -124,12 +124,13 @@ static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
 };
 
 static const struct pios_hmc5x83_cfg pios_hmc5x83_cfg = {
-    .exti_cfg  = &pios_exti_hmc5x83_cfg,
-    .M_ODR     = PIOS_HMC5x83_ODR_75,
-    .Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
-    .Gain      = PIOS_HMC5x83_GAIN_1_9,
-    .Mode      = PIOS_HMC5x83_MODE_CONTINUOUS,
-    .Driver    = &PIOS_HMC5x83_I2C_DRIVER,
+    .exti_cfg    = &pios_exti_hmc5x83_cfg,
+    .M_ODR       = PIOS_HMC5x83_ODR_75,
+    .Meas_Conf   = PIOS_HMC5x83_MEASCONF_NORMAL,
+    .Gain        = PIOS_HMC5x83_GAIN_1_9,
+    .Mode        = PIOS_HMC5x83_MODE_CONTINUOUS,
+    .Driver      = &PIOS_HMC5x83_I2C_DRIVER,
+    .Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP,
 };
 #endif /* PIOS_INCLUDE_HMC5X83 */
 
@@ -908,6 +909,17 @@ void PIOS_Board_Init(void)
 #include <pios_ws2811.h>
     PIOS_WS2811_Init(&pios_ws2811_cfg, &pios_ws2811_pin_cfg);
 #endif // PIOS_INCLUDE_WS2811
+#ifdef PIOS_INCLUDE_ADC
+    {
+        uint8_t adc_config[HWSETTINGS_ADCROUTING_NUMELEM];
+        HwSettingsADCRoutingArrayGet(adc_config);
+        for (uint32_t i = 0; i < HWSETTINGS_ADCROUTING_NUMELEM; i++) {
+            if (adc_config[i] != HWSETTINGS_ADCROUTING_DISABLED) {
+                PIOS_ADC_PinSetup(i);
+            }
+        }
+    }
+#endif // PIOS_INCLUDE_ADC
 }
 
 /**

flight/targets/boards/discoveryf4bare/pios_board.h

@@ -264,10 +264,10 @@ extern uint32_t pios_packet_handler;
 // -------------------------
 #define PIOS_DMA_PIN_CONFIG                                                                 \
     {                                                                                           \
-        { GPIOC, GPIO_Pin_1, ADC_Channel_11 },                                                \
-        { GPIOC, GPIO_Pin_2, ADC_Channel_12 },                                                \
-        { NULL, 0, ADC_Channel_Vrefint }, /* Voltage reference */         \
-        { NULL, 0, ADC_Channel_TempSensor }, /* Temperature sensor */        \
+        { GPIOC, GPIO_Pin_1, ADC_Channel_11, false },                                                \
+        { GPIOC, GPIO_Pin_2, ADC_Channel_12, false },                                                \
+        { NULL, 0, ADC_Channel_Vrefint, false }, /* Voltage reference */         \
+        { NULL, 0, ADC_Channel_TempSensor, false }, /* Temperature sensor */        \
     }
 
 /* we have to do all this to satisfy the PIOS_ADC_MAX_SAMPLES define in pios_adc.h */

flight/targets/boards/gpsplatinum/board_hw_defs.c

@@ -246,14 +246,15 @@ static const struct pios_exti_cfg pios_exti_mag_cfg __exti_config = {
 
 static const struct pios_hmc5x83_cfg pios_mag_cfg = {
 #ifdef PIOS_HMC5X83_HAS_GPIOS
-    .exti_cfg  = &pios_exti_mag_cfg,
+    .exti_cfg    = &pios_exti_mag_cfg,
 #endif
-    .M_ODR     = PIOS_HMC5x83_ODR_30,
-    .Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
+    .M_ODR       = PIOS_HMC5x83_ODR_30,
+    .Meas_Conf   = PIOS_HMC5x83_MEASCONF_NORMAL,
     .Gain             = PIOS_HMC5x83_GAIN_1_3,
     .Mode             = PIOS_HMC5x83_MODE_CONTINUOUS,
-    .Driver    = &PIOS_HMC5x83_SPI_DRIVER,
+    .Driver      = &PIOS_HMC5x83_SPI_DRIVER,
     .TempCompensation = true,
+    .Orientation = PIOS_HMC5X83_ORIENTATION_WEST_NORTH_DOWN,
 };
 #endif /* PIOS_INCLUDE_HMC5883 */
 

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

@@ -449,6 +449,17 @@ void PIOS_Board_Init(void)
     // PIOS_TIM_InitClock(&pios_tim4_cfg);
     PIOS_Video_Init(&pios_video_cfg);
 #endif
+#ifdef PIOS_INCLUDE_ADC
+    {
+        uint8_t adc_config[HWSETTINGS_ADCROUTING_NUMELEM];
+        HwSettingsADCRoutingArrayGet(adc_config);
+        for (uint32_t i = 0; i < HWSETTINGS_ADCROUTING_NUMELEM; i++) {
+            if (adc_config[i] != HWSETTINGS_ADCROUTING_DISABLED) {
+                PIOS_ADC_PinSetup(i);
+            }
+        }
+    }
+#endif // PIOS_INCLUDE_ADC
 }
 
 uint16_t supv_timer = 0;

flight/targets/boards/osd/pios_board.h

@@ -208,13 +208,13 @@ extern uint32_t pios_com_telem_usb_id;
 
 #define PIOS_DMA_PIN_CONFIG \
     { \
-        { GPIOC, GPIO_Pin_0, ADC_Channel_10 }, \
-        { GPIOC, GPIO_Pin_1, ADC_Channel_11 }, \
-        { GPIOC, GPIO_Pin_2, ADC_Channel_12 }, \
-        { NULL, 0, ADC_Channel_TempSensor }, /* Temperature sensor */ \
-        { GPIOC, GPIO_Pin_3, ADC_Channel_13 }, \
-        { GPIOA, GPIO_Pin_7, ADC_Channel_7 }, \
-        { NULL, 0, ADC_Channel_Vrefint } /* Voltage reference */ \
+        { GPIOC, GPIO_Pin_0, ADC_Channel_10, true }, \
+        { GPIOC, GPIO_Pin_1, ADC_Channel_11, true }, \
+        { GPIOC, GPIO_Pin_2, ADC_Channel_12, true }, \
+        { NULL, 0, ADC_Channel_TempSensor, true }, /* Temperature sensor */ \
+        { GPIOC, GPIO_Pin_3, ADC_Channel_13, true }, \
+        { GPIOA, GPIO_Pin_7, ADC_Channel_7, true }, \
+        { NULL, 0, ADC_Channel_Vrefint, true } /* Voltage reference */ \
     }
 
 /* we have to do all this to satisfy the PIOS_ADC_MAX_SAMPLES define in pios_adc.h */

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

@@ -20,6 +20,7 @@
 # (all architectures)
 UAVOBJSRCFILENAMES =
 UAVOBJSRCFILENAMES += statusgrounddrive
+UAVOBJSRCFILENAMES += statusvtolautotakeoff
 UAVOBJSRCFILENAMES += pidstatus
 UAVOBJSRCFILENAMES += statusvtolland
 UAVOBJSRCFILENAMES += vtolselftuningstats

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

@@ -132,12 +132,13 @@ static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
 };
 
 static const struct pios_hmc5x83_cfg pios_hmc5x83_cfg = {
-    .exti_cfg  = &pios_exti_hmc5x83_cfg,
-    .M_ODR     = PIOS_HMC5x83_ODR_75,
-    .Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
-    .Gain      = PIOS_HMC5x83_GAIN_1_9,
-    .Mode      = PIOS_HMC5x83_MODE_CONTINUOUS,
-    .Driver    = &PIOS_HMC5x83_I2C_DRIVER,
+    .exti_cfg    = &pios_exti_hmc5x83_cfg,
+    .M_ODR       = PIOS_HMC5x83_ODR_75,
+    .Meas_Conf   = PIOS_HMC5x83_MEASCONF_NORMAL,
+    .Gain        = PIOS_HMC5x83_GAIN_1_9,
+    .Mode        = PIOS_HMC5x83_MODE_CONTINUOUS,
+    .Driver      = &PIOS_HMC5x83_I2C_DRIVER,
+    .Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP,
 };
 #endif /* PIOS_INCLUDE_HMC5X83 */
 
@@ -740,10 +741,7 @@ void PIOS_Board_Init(void)
                           tx_buffer, PIOS_COM_RFM22B_RF_TX_BUF_LEN)) {
             PIOS_Assert(0);
         }
-        /* Set Telemetry to use OPLinkMini if no other telemetry is configured (USB always overrides anyway) */
-        if (!pios_com_telem_rf_id) {
-            pios_com_telem_rf_id = pios_com_rf_id;
-        }
+
         oplinkStatus.LinkState = OPLINKSTATUS_LINKSTATE_ENABLED;
 
         // Set the RF data rate on the modem to ~2X the selected buad rate because the modem is half duplex.
@@ -946,8 +944,18 @@ void PIOS_Board_Init(void)
     if (ws2811_pin_settings != HWSETTINGS_WS2811LED_OUT_DISABLED && ws2811_pin_settings < NELEMENTS(pios_ws2811_pin_cfg)) {
         PIOS_WS2811_Init(&pios_ws2811_cfg, &pios_ws2811_pin_cfg[ws2811_pin_settings]);
     }
-
 #endif // PIOS_INCLUDE_WS2811
+#ifdef PIOS_INCLUDE_ADC
+    {
+        uint8_t adc_config[HWSETTINGS_ADCROUTING_NUMELEM];
+        HwSettingsADCRoutingArrayGet(adc_config);
+        for (uint32_t i = 0; i < HWSETTINGS_ADCROUTING_NUMELEM; i++) {
+            if (adc_config[i] != HWSETTINGS_ADCROUTING_DISABLED) {
+                PIOS_ADC_PinSetup(i);
+            }
+        }
+    }
+#endif // PIOS_INCLUDE_ADC
 }
 
 /**

flight/targets/boards/revolution/pios_board.h

@@ -281,23 +281,27 @@ extern uint32_t pios_packet_handler;
 // PIOS_ADC_PinGet(4) = VREF
 // PIOS_ADC_PinGet(5) = Temperature sensor
 // -------------------------
-#define PIOS_DMA_PIN_CONFIG                                                                 \
-    {                                                                                           \
-        { GPIOC, GPIO_Pin_1, ADC_Channel_11 },                                                \
-        { GPIOC, GPIO_Pin_2, ADC_Channel_12 },                                                \
-        { NULL, 0, ADC_Channel_Vrefint }, /* Voltage reference */         \
-        { NULL, 0, ADC_Channel_TempSensor }, /* Temperature sensor */        \
+#define PIOS_DMA_PIN_CONFIG                            \
+    {                                                  \
+        { GPIOC, GPIO_Pin_1, ADC_Channel_11, false }, /* batt/sonar pin 3   */  \
+        { GPIOC, GPIO_Pin_2, ADC_Channel_12, false }, /* batt/sonar pin 4   */  \
+        { GPIOA, GPIO_Pin_3, ADC_Channel_3, false }, /* Servo pin 3        */  \
+        { GPIOA, GPIO_Pin_2, ADC_Channel_2, false }, /* Servo pin 4        */  \
+        { GPIOA, GPIO_Pin_1, ADC_Channel_1, false }, /* Servo pin 5        */  \
+        { GPIOA, GPIO_Pin_0, ADC_Channel_9, false }, /* Servo pin 6        */  \
+        { NULL, 0, ADC_Channel_Vrefint, false }, /* Voltage reference  */  \
+        { NULL, 0, ADC_Channel_TempSensor, false }, /* Temperature sensor */  \
     }
 
 /* we have to do all this to satisfy the PIOS_ADC_MAX_SAMPLES define in pios_adc.h */
 /* which is annoying because this then determines the rate at which we generate buffer turnover events */
 /* the objective here is to get enough buffer space to support 100Hz averaging rate */
-#define PIOS_ADC_NUM_CHANNELS     4
+#define PIOS_ADC_NUM_CHANNELS     8
 #define PIOS_ADC_MAX_OVERSAMPLING 2
 #define PIOS_ADC_USE_ADC2         0
 
 #define PIOS_ADC_USE_TEMP_SENSOR
-#define PIOS_ADC_TEMPERATURE_PIN  3
+#define PIOS_ADC_TEMPERATURE_PIN  7
 
 // -------------------------
 // USB

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

@@ -20,8 +20,9 @@
 # (all architectures)
 UAVOBJSRCFILENAMES =
 UAVOBJSRCFILENAMES += statusgrounddrive
-UAVOBJSRCFILENAMES += pidstatus
 UAVOBJSRCFILENAMES += statusvtolland
+UAVOBJSRCFILENAMES += statusvtolautotakeoff
+UAVOBJSRCFILENAMES += pidstatus
 UAVOBJSRCFILENAMES += vtolselftuningstats
 UAVOBJSRCFILENAMES += accelgyrosettings
 UAVOBJSRCFILENAMES += accessorydesired

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

@@ -122,12 +122,13 @@ static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
 };
 
 static const struct pios_hmc5x83_cfg pios_hmc5x83_cfg = {
-    .exti_cfg  = &pios_exti_hmc5x83_cfg,
-    .M_ODR     = PIOS_HMC5x83_ODR_75,
-    .Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
-    .Gain      = PIOS_HMC5x83_GAIN_1_9,
-    .Mode      = PIOS_HMC5x83_MODE_CONTINUOUS,
-    .Driver    = &PIOS_HMC5x83_I2C_DRIVER,
+    .exti_cfg    = &pios_exti_hmc5x83_cfg,
+    .M_ODR       = PIOS_HMC5x83_ODR_75,
+    .Meas_Conf   = PIOS_HMC5x83_MEASCONF_NORMAL,
+    .Gain        = PIOS_HMC5x83_GAIN_1_9,
+    .Mode        = PIOS_HMC5x83_MODE_CONTINUOUS,
+    .Driver      = &PIOS_HMC5x83_I2C_DRIVER,
+    .Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP,
 };
 #endif /* PIOS_INCLUDE_HMC5X83 */
 
@@ -925,6 +926,17 @@ void PIOS_Board_Init(void)
     default:
         PIOS_DEBUG_Assert(0);
     }
+#ifdef PIOS_INCLUDE_ADC
+    {
+        uint8_t adc_config[HWSETTINGS_ADCROUTING_NUMELEM];
+        HwSettingsADCRoutingArrayGet(adc_config);
+        for (uint32_t i = 0; i < HWSETTINGS_ADCROUTING_NUMELEM; i++) {
+            if (adc_config[i] != HWSETTINGS_ADCROUTING_DISABLED) {
+                PIOS_ADC_PinSetup(i);
+            }
+        }
+    }
+#endif // PIOS_INCLUDE_ADC
 }
 
 /**

flight/targets/boards/revoproto/pios_board.h

@@ -242,11 +242,11 @@ extern uint32_t pios_com_hkosd_id;
 // -------------------------
 #define PIOS_DMA_PIN_CONFIG                                                                         \
     {                                                                                                   \
-        { GPIOC, GPIO_Pin_0, ADC_Channel_10 },                                                        \
-        { GPIOC, GPIO_Pin_1, ADC_Channel_11 },                                                        \
-        { NULL, 0, ADC_Channel_Vrefint }, /* Voltage reference */         \
-        { NULL, 0, ADC_Channel_TempSensor }, /* Temperature sensor */        \
-        { GPIOC, GPIO_Pin_2, ADC_Channel_12 }  \
+        { GPIOC, GPIO_Pin_0, ADC_Channel_10, true },                                                        \
+        { GPIOC, GPIO_Pin_1, ADC_Channel_11, true },                                                        \
+        { NULL, 0, ADC_Channel_Vrefint, true }, /* Voltage reference */         \
+        { NULL, 0, ADC_Channel_TempSensor, true }, /* Temperature sensor */        \
+        { GPIOC, GPIO_Pin_2, ADC_Channel_12, true }  \
     }
 
 /* we have to do all this to satisfy the PIOS_ADC_MAX_SAMPLES define in pios_adc.h */

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

@@ -25,6 +25,7 @@
 
 UAVOBJSRCFILENAMES =
 UAVOBJSRCFILENAMES += statusgrounddrive
+UAVOBJSRCFILENAMES += statusvtolautotakeoff
 UAVOBJSRCFILENAMES += pidstatus
 UAVOBJSRCFILENAMES += statusvtolland
 UAVOBJSRCFILENAMES += vtolselftuningstats

ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml

@@ -245,8 +245,7 @@ Item {
         visible: SystemAlarms.Alarm_PathPlan == 1
 
         Text {
-            text: ["FLY END POINT","FLY VECTOR","FLY CIRCLE RIGHT","FLY CIRCLE LEFT","DRIVE END POINT","DRIVE VECTOR","DRIVE CIRCLE LEFT",
-                   "DRIVE CIRCLE RIGHT","FIXED ATTITUDE","SET ACCESSORY","LAND","DISARM ALARM"][PathDesired.Mode]
+            text: ["GOTO ENDPOINT","FOLLOW VECTOR","CIRCLE RIGHT","CIRCLE LEFT","FIXED ATTITUDE","SET ACCESSORY","DISARM ALARM","LAND","BRAKE","VELOCITY","AUTO TAKEOFF"][PathDesired.Mode]
             anchors.centerIn: parent
             color: "cyan"
 
@@ -355,6 +354,13 @@ Item {
         Rectangle {
             anchors.fill: parent
 
+            MouseArea { 
+               id: reset_consumed_energy_mouseArea; 
+               anchors.fill: parent;
+               cursorShape: Qt.PointingHandCursor; 
+               onClicked: qmlWidget.resetConsumedEnergy();
+            }
+
             // Alarm based on FlightBatteryState.EstimatedFlightTime < 120s orange, < 60s red
             color: (FlightBatteryState.EstimatedFlightTime <= 120 && FlightBatteryState.EstimatedFlightTime > 60 ? "orange" :
                    (FlightBatteryState.EstimatedFlightTime <= 60 ? "red": info.batColors[SystemAlarms.Alarm_Battery]))

ground/openpilotgcs/share/openpilotgcs/pfd/default/Panels.qml

@@ -480,6 +480,13 @@ Item {
         Rectangle {
             anchors.fill: parent
 
+            MouseArea { 
+               id: reset_panel_consumed_energy_mouseArea; 
+               anchors.fill: parent;
+               cursorShape: Qt.PointingHandCursor; 
+               onClicked: qmlWidget.resetConsumedEnergy();
+            }
+
             // Alarm based on FlightBatteryState.EstimatedFlightTime < 120s orange, < 60s red
             color: (FlightBatteryState.EstimatedFlightTime <= 120 && FlightBatteryState.EstimatedFlightTime > 60 ? "orange" :
                    (FlightBatteryState.EstimatedFlightTime <= 60 ? "red": panels.batColors[SystemAlarms.Alarm_Battery]))
@@ -526,6 +533,13 @@ Item {
             anchors.fill: parent
             //color: panels.batColors[SystemAlarms.Alarm_Battery]
 
+            MouseArea { 
+               id: reset_panel_consumed_energy_mouseArea2; 
+               anchors.fill: parent;
+               cursorShape: Qt.PointingHandCursor; 
+               onClicked: qmlWidget.resetConsumedEnergy();
+            }
+
             // Alarm based on FlightBatteryState.EstimatedFlightTime < 120s orange, < 60s red
             color: (FlightBatteryState.EstimatedFlightTime <= 120 && FlightBatteryState.EstimatedFlightTime > 60 ? "orange" :
                    (FlightBatteryState.EstimatedFlightTime <= 60 ? "red": panels.batColors[SystemAlarms.Alarm_Battery]))

ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts

@@ -52,7 +52,7 @@
         <translation></translation>
     </message>
     <message>
-        <location filename="../../../src/plugins/coreplugin/generalsettings.cpp" line="+62"/>
+        <location filename="../../../src/plugins/coreplugin/generalsettings.cpp" line="+64"/>
         <source>General</source>
         <translation>Général</translation>
     </message>
@@ -68,7 +68,7 @@
         <translation>&lt;Langue Système&gt;</translation>
     </message>
     <message>
-        <location line="+112"/>
+        <location line="+120"/>
         <source>Variables</source>
         <translation>Variables</translation>
     </message>
@@ -103,22 +103,35 @@
         <translation>Sélectionner automatiquement un périphérique USB OpenPilot :</translation>
     </message>
     <message>
-        <location/>
         <source>Use UDP Mirror</source>
         <translatorcomment>Typo need &quot;:&quot; or remove on others</translatorcomment>
-        <translation>Utiliser Miroir UDP</translation>
+        <translation type="vanished">Utiliser Miroir UDP</translation>
     </message>
     <message>
-        <location/>
         <source>Expert Mode</source>
         <translatorcomment>Typo need &quot;:&quot; or remove on others</translatorcomment>
-        <translation>Mode Expert</translation>
+        <translation type="vanished">Mode Expert</translation>
     </message>
     <message>
         <location/>
         <source>Language:</source>
         <translation>Langue :</translation>
     </message>
+    <message>
+        <location/>
+        <source>Expert Mode:</source>
+        <translation>Mode Expert :</translation>
+    </message>
+    <message>
+        <location/>
+        <source>Contribute usage statistics:</source>
+        <translation>Contribuer aux statistiques d&apos;utilisation :</translation>
+    </message>
+    <message>
+        <location/>
+        <source>Use UDP Mirror:</source>
+        <translation>Utiliser Miroir UDP :</translation>
+    </message>
 </context>
 <context>
     <name>Core::Internal::MainWindow</name>
@@ -10699,7 +10712,7 @@ Voulez-vous toujours continuer ?</translation>
 <context>
     <name>ConfigInputWidget</name>
     <message>
-        <location filename="../../../src/plugins/config/configinputwidget.cpp" line="+393"/>
+        <location filename="../../../src/plugins/config/configinputwidget.cpp" line="+396"/>
         <source>http://wiki.openpilot.org/x/04Cf</source>
         <translation></translation>
     </message>
@@ -10824,6 +10837,31 @@ Vous pouvez appuyer à tout moment sur &apos;Précédent&apos; pour revenir à l
         <translatorcomment>Dérive / gouvernail ?</translatorcomment>
         <translation>Pour un Quadricoptère : Profondeur correspond à la Rotation Avant, Ailerons à Roulis et Dérive correspond à Lacet.</translation>
     </message>
+    <message>
+        <location line="+209"/>
+        <source>&lt;p&gt;Please enable throttle hold mode.&lt;/p&gt;&lt;p&gt;Move the Collective Pitch stick.&lt;/p&gt;</source>
+        <translation>&lt;p&gt;Veuillez activer les gaz en position maintenue.&lt;/p&gt;&lt;p&gt;Bougez le manche du Collectif de tangage.&lt;/p&gt;</translation>
+    </message>
+    <message>
+        <location line="+3"/>
+        <source>&lt;p&gt;Please toggle the Flight Mode switch.&lt;/p&gt;&lt;p&gt;For switches you may have to repeat this rapidly.&lt;/p&gt;&lt;p&gt;Alternatively, you can click Next to skip this channel, but you will get only &lt;b&gt;ONE&lt;/b&gt; Flight Mode.&lt;/p&gt;</source>
+        <translation>&lt;p&gt;Veuillez activer l&apos;interrupteur de Mode de Vol.&lt;/p&gt;&lt;p&gt;Pour les interrupteurs vous pourriez avoir à répéter l&apos;opération rapidement.&lt;/p&gt;&lt;p&gt;Vous avez la possibilité d&apos;appuyer sur Suivant pour ignorer ce canal mais vous aurez seulement &lt;b&gt;UN&lt;/b&gt; Mode de Vol.&lt;/p&gt;</translation>
+    </message>
+    <message>
+        <location line="+5"/>
+        <source>&lt;p&gt;Please disable throttle hold mode.&lt;/p&gt;&lt;p&gt;Move the Throttle stick.&lt;/p&gt;</source>
+        <translation>&lt;p&gt;Veuillez désactiver les gaz en position maintenue.&lt;/p&gt;&lt;p&gt;Bougez le manche des Gaz.&lt;/p&gt;</translation>
+    </message>
+    <message>
+        <location line="+3"/>
+        <source>&lt;p&gt;Please move each control one at a time according to the instructions and picture below.&lt;/p&gt;&lt;p&gt;Move the %1 stick.&lt;/p&gt;</source>
+        <translation>&lt;p&gt;Veuillez bouger chaque organe de contrôle, un seul à la fois, en fonction des instructions et de l&apos;image ci-dessous.&lt;/p&gt;&lt;p&gt;Bougez le manche %1.&lt;/p&gt;</translation>
+    </message>
+    <message>
+        <location line="+5"/>
+        <source>&lt;p&gt;Alternatively, click Next to skip this channel.&lt;/p&gt;</source>
+        <translation>&lt;p&gt;Vous avez la possibilité d&apos;appuyer sur Suivant pour ignorer ce canal.&lt;/p&gt;</translation>
+    </message>
     <message>
         <source>Please center all controls and trims and press Next when ready.
 
@@ -10854,7 +10892,7 @@ IMPORTANT: These new settings have not been saved to the board yet. After pressi
 IMPORTANT : Ces nouveaux paramètres ne sont pas encore enregistrés sur la carte. Après avoir appuyé sur Suivant vous serez dirigé vers l&apos;onglet Paramètres d&apos;Armement où vous pourrez choisir votre séquence d&apos;armement et enregistrer la configuration.</translation>
     </message>
     <message>
-        <location line="+23"/>
+        <location line="-202"/>
         <source>Please center all controls and trims and press Next when ready.
 
 For a ground vehicle, this center position will be used as neutral value of each channel.</source>
@@ -10863,52 +10901,47 @@ For a ground vehicle, this center position will be used as neutral value of each
 Pour un véhicule terrestre, ces positions centrales seront utilisées comme neutre de chaque canal.</translation>
     </message>
     <message>
-        <location line="+178"/>
         <source>Please enable throttle hold mode.
 
 Move the Collective Pitch stick.</source>
         <translatorcomment>hélico ? à traduire [Platypus] Ca convient ? [soh] A confirmer par un héliqueux.</translatorcomment>
-        <translation type="unfinished">Veuillez activer les gaz en position maintenue.
+        <translation type="obsolete">Veuillez activer les gaz en position maintenue.
 
 Bougez le manche du Collectif de tangage.</translation>
     </message>
     <message>
-        <location line="+2"/>
         <source>Please toggle the Flight Mode switch.
 
 For switches you may have to repeat this rapidly.</source>
-        <translation>Veuillez activer l&apos;interrupteur de Mode de Vol.
+        <translation type="vanished">Veuillez activer l&apos;interrupteur de Mode de Vol.
 
 Pour les interrupteurs vous pourriez avoir à répéter l&apos;opération rapidement.</translation>
     </message>
     <message>
-        <location line="+2"/>
         <source>Please disable throttle hold mode.
 
 Move the Throttle stick.</source>
         <translatorcomment>hélico ? à traduire</translatorcomment>
-        <translation type="unfinished">Veuillez désactiver les gaz en position maintenue.
+        <translation type="obsolete">Veuillez désactiver les gaz en position maintenue.
 
 Bougez le manche des Gaz.</translation>
     </message>
     <message>
-        <location line="+2"/>
         <source>Please move each control one at a time according to the instructions and picture below.
 
 Move the %1 stick.</source>
-        <translation>Veuillez bouger chaque organe de contrôle, un seul à la fois, en fonction des instructions et de l&apos;image ci-dessous.
+        <translation type="vanished">Veuillez bouger chaque organe de contrôle, un seul à la fois, en fonction des instructions et de l&apos;image ci-dessous.
 
 Bougez le manche %1.</translation>
     </message>
     <message>
-        <location line="+6"/>
+        <location line="+208"/>
         <source>Next / Skip</source>
         <translation>Suivant / Sauter</translation>
     </message>
     <message>
-        <location line="+1"/>
         <source> Alternatively, click Next to skip this channel.</source>
-        <translation> Vous avez la possibilité d&apos;appuyer sur Suivant pour ignorer ce canal.</translation>
+        <translation type="vanished"> Vous avez la possibilité d&apos;appuyer sur Suivant pour ignorer ce canal.</translation>
     </message>
     <message>
         <location line="+748"/>
@@ -16173,70 +16206,88 @@ IMPORTANT : Ces nouveaux paramètres ne sont pas encore enregistrés sur la cart
 <context>
     <name>ConfigCcpmWidget</name>
     <message>
-        <location filename="../../../src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp" line="+1081"/>
+        <location filename="../../../src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp" line="+1080"/>
+        <location filename="../../../src/plugins/config/cfg_vehicletypes/configccpmwidget_dev.cpp" line="+1110"/>
         <source>&lt;h1&gt;Swashplate Leveling Routine&lt;/h1&gt;</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <location line="+1"/>
+        <location filename="../../../src/plugins/config/cfg_vehicletypes/configccpmwidget_dev.cpp" line="+1"/>
         <source>&lt;b&gt;You are about to start the Swashplate levelling routine.&lt;/b&gt;&lt;p&gt;This process will start by downloading the current configuration from the GCS to the OP hardware and will adjust your configuration at various stages.&lt;p&gt;The final state of your system should match the current configuration in the GCS config gadget.&lt;/p&gt;&lt;p&gt;Please ensure all ccpm settings in the GCS are correct before continuing.&lt;/p&gt;&lt;p&gt;If this process is interrupted, then the state of your OP board may not match the GCS configuration.&lt;/p&gt;&lt;p&gt;&lt;i&gt;After completing this process, please check all settings before attempting to fly.&lt;/i&gt;&lt;/p&gt;&lt;p&gt;&lt;font color=red&gt;&lt;b&gt;Please disconnect your motor to ensure it will not spin up.&lt;/b&gt;&lt;/font&gt;&lt;p&gt;&lt;hr&gt;&lt;i&gt;Do you wish to proceed?&lt;/i&gt;&lt;/p&gt;</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <location line="+128"/>
+        <location filename="../../../src/plugins/config/cfg_vehicletypes/configccpmwidget_dev.cpp" line="+128"/>
         <source>&lt;h2&gt;Neutral levelling&lt;/h2&gt;&lt;p&gt;Using adjustment of:&lt;ul&gt;&lt;li&gt;Servo horns,&lt;/li&gt;&lt;li&gt;Link lengths,&lt;/li&gt;&lt;li&gt;Neutral triming spinboxes to the right&lt;/li&gt;&lt;/ul&gt;&lt;br&gt;Ensure that the swashplate is in the center of desired travel range and is level.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <location line="+14"/>
+        <location filename="../../../src/plugins/config/cfg_vehicletypes/configccpmwidget_dev.cpp" line="+14"/>
         <source>&lt;h2&gt;Max levelling&lt;/h2&gt;&lt;p&gt;Using adjustment of:&lt;ul&gt;&lt;li&gt;Max triming spinboxes to the right ONLY&lt;/li&gt;&lt;/ul&gt;&lt;br&gt;Ensure that the swashplate is at the top of desired travel range and is level.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <location line="+13"/>
+        <location filename="../../../src/plugins/config/cfg_vehicletypes/configccpmwidget_dev.cpp" line="+13"/>
         <source>&lt;h2&gt;Min levelling&lt;/h2&gt;&lt;p&gt;Using adjustment of:&lt;ul&gt;&lt;li&gt;Min triming spinboxes to the right ONLY&lt;/li&gt;&lt;/ul&gt;&lt;br&gt;Ensure that the swashplate is at the bottom of desired travel range and is level.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <location line="+19"/>
+        <location filename="../../../src/plugins/config/cfg_vehicletypes/configccpmwidget_dev.cpp" line="+19"/>
         <source>&lt;h2&gt;Levelling verification&lt;/h2&gt;&lt;p&gt;Adjust the slider to the right over it&apos;s full range and observe the swashplate motion. It should remain level over the entire range of travel.&lt;/p&gt;</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <location line="+7"/>
+        <location filename="../../../src/plugins/config/cfg_vehicletypes/configccpmwidget_dev.cpp" line="+7"/>
         <source>&lt;h2&gt;Levelling complete&lt;/h2&gt;&lt;p&gt;Press the Finish button to save these settings to the SD card&lt;/p&gt;&lt;p&gt;Press the cancel button to return to the pre-levelling settings&lt;/p&gt;</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <location line="+68"/>
+        <location filename="../../../src/plugins/config/cfg_vehicletypes/configccpmwidget_dev.cpp" line="+68"/>
         <source>&lt;h2&gt;Levelling Cancelled&lt;/h2&gt;&lt;p&gt;Previous settings have been restored.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <location line="+43"/>
+        <location filename="../../../src/plugins/config/cfg_vehicletypes/configccpmwidget_dev.cpp" line="+43"/>
         <source>&lt;h2&gt;Levelling Completed&lt;/h2&gt;&lt;p&gt;New settings have been saved to the SD card</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <location line="+12"/>
+        <location filename="../../../src/plugins/config/cfg_vehicletypes/configccpmwidget_dev.cpp" line="+12"/>
         <source>&lt;font color=red&gt;&lt;h1&gt;Warning!!!&lt;/h2&gt;&lt;/font&gt;</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <location line="+6"/>
+        <location filename="../../../src/plugins/config/cfg_vehicletypes/configccpmwidget_dev.cpp" line="+6"/>
         <source>&lt;h2&gt;This code has many configurations.&lt;/h2&gt;&lt;p&gt;Please double check all settings before attempting flight!</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <location line="+11"/>
+        <location filename="../../../src/plugins/config/cfg_vehicletypes/configccpmwidget_dev.cpp" line="+11"/>
         <source>&lt;h2&gt;The CCPM mixer code needs more testing!&lt;/h2&gt;&lt;p&gt;&lt;font color=red&gt;Use it at your own risk!&lt;/font&gt;&lt;p&gt;Do you wish to continue?</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <location line="+16"/>
+        <location filename="../../../src/plugins/config/cfg_vehicletypes/configccpmwidget_dev.cpp" line="+16"/>
         <source>&lt;h2&gt;The CCPM swashplate levelling code is NOT complete!&lt;/h2&gt;&lt;p&gt;&lt;font color=red&gt;DO NOT use it for flight!&lt;/font&gt;</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <location filename="../../../src/plugins/config/cfg_vehicletypes/configccpmwidget_dev.cpp" line="+174"/>
+        <source>Channel already used</source>
+        <translation type="unfinished">Canal déjà utilisé</translation>
+    </message>
 </context>
 <context>
     <name>VehicleTemplateSelectorWidget</name>
@@ -16320,4 +16371,37 @@ Il est suggéré que si cela est une première configuration de votre contrôleu
         <translation>Réglages Actuels</translation>
     </message>
 </context>
+<context>
+    <name>UsageTrackerPlugin</name>
+    <message>
+        <location filename="../../../src/plugins/usagetracker/usagetrackerplugin.cpp" line="+80"/>
+        <source>Usage feedback</source>
+        <translation>Retour d&apos;utilisation</translation>
+    </message>
+    <message>
+        <location line="+2"/>
+        <source>Yes, count me in</source>
+        <translation>Oui, comptez sur moi</translation>
+    </message>
+    <message>
+        <location line="+1"/>
+        <source>No, I will not help</source>
+        <translation>Non, je ne souhaite pas aider</translation>
+    </message>
+    <message>
+        <location line="+1"/>
+        <source>Openpilot GCS has a function to collect limited anonymous information about the usage of the application itself and the OpenPilot hardware connected to it.&lt;p&gt;The intention is to not include anything that can be considered sensitive or a threat to the users integrity. The collected information will be sent using a secure protocol to an OpenPilot web service and stored in a database for later analysis and statistical purposes.&lt;br&gt;No information will be sold or given to any third party. The sole purpose is to collect statistics about the usage of our software and hardware to enable us to make things better for you.&lt;p&gt;The following things are collected:&lt;ul&gt;&lt;li&gt;Bootloader version&lt;/li&gt;&lt;li&gt;Firmware version, tag and git hash&lt;/li&gt;&lt;li&gt;OP Hardware type, revision and mcu serial number&lt;/li&gt;&lt;li&gt;Selected configuration parameters&lt;/li&gt;&lt;li&gt;GCS version&lt;/li&gt;&lt;li&gt;Operating system version and architecture&lt;/li&gt;&lt;li&gt;Current local time&lt;/li&gt;&lt;/ul&gt;The information is collected only at the time when a board is connecting to GCS.&lt;p&gt;It is possible to enable or disable this functionality in the general settings part of the options for the GCS application at any time.&lt;p&gt;We need your help, with your feedback we know where to improve things and what platforms are in use. This is a community project that depends on people being involved.&lt;br&gt;Thank You for helping us making things better and for supporting OpenPilot!</source>
+        <translation type="unfinished">Openpilot GCS possède une fonction qui permet de collecter les informations de manière anonyme sur l&apos;utilisation de l&apos;application en elle-même ainsi que le matériel OpenPilot connecté dessus.&lt;p&gt;Il n&apos;est pas question de collecter des informations sensibles ou pouvant représenter une menace pour l&apos;intégrité des utilisateurs. Les informations collectées seront envoyées vers un site web OpenPilot en utilisant un protocole sécurisé et stockées dans une base de données pour une analyse et des statistiques ultérieures.&lt;br&gt;Aucune information ne sera vendue ou donnée à une quelconque tierce partie. Le seul but est de collecter des informations à propos de l&apos;utilisation de notre logiciel / matériel pour nous permettre de l&apos;améliorer.&lt;p&gt;Les éléments suivants sont collectés :&lt;ul&gt;&lt;li&gt;Version bootloader&lt;/li&gt;&lt;li&gt;Version firmware, tag et git hash&lt;/li&gt;&lt;li&gt;Type de matériel OP, révision et numéro de série CPU&lt;/li&gt;&lt;li&gt;Paramètres de configuration sélectionnés&lt;/li&gt;&lt;li&gt;Version GCS&lt;/li&gt;&lt;li&gt;Système d&apos;exploitation et architecture&lt;/li&gt;&lt;li&gt;Fuseau horaire&lt;/li&gt;&lt;/ul&gt;Les informations sont collectées au moment de la connexion de la carte avec GCS.&lt;p&gt;Il est possible d&apos;activer ou de désactiver cette fonctionnalité à tout moment dans le menu Options &gt; Paramètres généraux de GCS.&lt;p&gt;Nous avons besoin de votre aide, avec votre participation nous connaîtrons où apporter des améliorations et quelle plateforme vous utilisez. C&apos;est un projet communautaire qui dépend de l&apos;implication des utilisateurs.&lt;br&gt;Merci de nous aider à rendre les choses meilleures et soutenir OpenPilot !</translation>
+    </message>
+    <message>
+        <location line="+23"/>
+        <source>&amp;Don&apos;t show this message again.</source>
+        <translation>&amp;Ne pas afficher ce message à nouveau.</translation>
+    </message>
+    <message>
+        <location line="+148"/>
+        <source>Unknown</source>
+        <translation>Inconnu</translation>
+    </message>
+</context>
 </TS>

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

@@ -674,7 +674,6 @@ void ConfigCcpmWidget::UpdateMixer()
     if (throwConfigError(QString("HeliCP"))) {
         return;
     }
-
     GUIConfigDataUnion config = getConfigData();
 
     useCCPM   = !(config.heli.ccpmCollectivePassthroughState || !config.heli.ccpmLinkCyclicState);
@@ -1567,28 +1566,28 @@ bool ConfigCcpmWidget::throwConfigError(QString airframeType)
 
     bool error = false;
 
-    if ((m_aircraft->ccpmServoWChannel->currentIndex() == 0) && (m_aircraft->ccpmServoWChannel->isEnabled())) {
+    if ((m_aircraft->ccpmServoWChannel->currentIndex() == 0) && (m_aircraft->ccpmServoWChannel->isVisible())) {
         m_aircraft->ccpmServoWLabel->setText("<font color=red>" + m_aircraft->ccpmServoWLabel->text() + "</font>");
         error = true;
     } else {
         m_aircraft->ccpmServoWLabel->setText(QTextEdit(m_aircraft->ccpmServoWLabel->text()).toPlainText());
     }
 
-    if ((m_aircraft->ccpmServoXChannel->currentIndex() == 0) && (m_aircraft->ccpmServoXChannel->isEnabled())) {
+    if ((m_aircraft->ccpmServoXChannel->currentIndex() == 0) && (m_aircraft->ccpmServoXChannel->isVisible())) {
         m_aircraft->ccpmServoXLabel->setText("<font color=red>" + m_aircraft->ccpmServoXLabel->text() + "</font>");
         error = true;
     } else {
         m_aircraft->ccpmServoXLabel->setText(QTextEdit(m_aircraft->ccpmServoXLabel->text()).toPlainText());
     }
 
-    if ((m_aircraft->ccpmServoYChannel->currentIndex() == 0) && (m_aircraft->ccpmServoYChannel->isEnabled())) {
+    if ((m_aircraft->ccpmServoYChannel->currentIndex() == 0) && (m_aircraft->ccpmServoYChannel->isVisible())) {
         m_aircraft->ccpmServoYLabel->setText("<font color=red>" + m_aircraft->ccpmServoYLabel->text() + "</font>");
         error = true;
     } else {
         m_aircraft->ccpmServoYLabel->setText(QTextEdit(m_aircraft->ccpmServoYLabel->text()).toPlainText());
     }
 
-    if ((m_aircraft->ccpmServoZChannel->currentIndex() == 0) && (m_aircraft->ccpmServoZChannel->isEnabled())) {
+    if ((m_aircraft->ccpmServoZChannel->currentIndex() == 0) && (m_aircraft->ccpmServoZChannel->isVisible())) {
         m_aircraft->ccpmServoZLabel->setText("<font color=red>" + m_aircraft->ccpmServoZLabel->text() + "</font>");
         error = true;
     } else {

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

@@ -42,10 +42,13 @@
 #include <utils/stylehelper.h>
 #include <QMessageBox>
 
-#define ACCESS_MIN_MOVE -3
-#define ACCESS_MAX_MOVE 3
-#define STICK_MIN_MOVE  -8
-#define STICK_MAX_MOVE  8
+#define ACCESS_MIN_MOVE            -3
+#define ACCESS_MAX_MOVE            3
+#define STICK_MIN_MOVE             -8
+#define STICK_MAX_MOVE             8
+
+#define CHANNEL_NUMBER_NONE        0
+#define DEFAULT_FLIGHT_MODE_NUMBER 3
 
 ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
     ConfigTaskWidget(parent),
@@ -416,18 +419,18 @@ void ConfigInputWidget::goToWizard()
     // chooses a different TX type (which could otherwise result in
     // unexpected TX channels being enabled)
     manualSettingsData             = manualSettingsObj->getData();
-    previousManualSettingsData     = manualSettingsData;
+    memento.manualSettingsData     = manualSettingsData;
     flightModeSettingsData         = flightModeSettingsObj->getData();
-    previousFlightModeSettingsData = flightModeSettingsData;
+    memento.flightModeSettingsData = flightModeSettingsData;
     flightModeSettingsData.Arming  = FlightModeSettings::ARMING_ALWAYSDISARMED;
     flightModeSettingsObj->setData(flightModeSettingsData);
     // Stash actuatorSettings
     actuatorSettingsData           = actuatorSettingsObj->getData();
-    previousActuatorSettingsData   = actuatorSettingsData;
+    memento.actuatorSettingsData   = actuatorSettingsData;
 
     // Stash systemSettings
     systemSettingsData             = systemSettingsObj->getData();
-    previousSystemSettingsData     = systemSettingsData;
+    memento.systemSettingsData     = systemSettingsData;
 
     // Now reset channel and actuator settings (disable outputs)
     resetChannelSettings();
@@ -469,10 +472,10 @@ void ConfigInputWidget::wzCancel()
     ui->stackedWidget->setCurrentIndex(0);
 
     // Load settings back from beginning of wizard
-    manualSettingsObj->setData(previousManualSettingsData);
-    flightModeSettingsObj->setData(previousFlightModeSettingsData);
-    actuatorSettingsObj->setData(previousActuatorSettingsData);
-    systemSettingsObj->setData(previousSystemSettingsData);
+    manualSettingsObj->setData(memento.manualSettingsData);
+    flightModeSettingsObj->setData(memento.flightModeSettingsData);
+    actuatorSettingsObj->setData(memento.actuatorSettingsData);
+    systemSettingsObj->setData(memento.systemSettingsData);
 }
 
 void ConfigInputWidget::registerControlActivity()
@@ -555,7 +558,7 @@ void ConfigInputWidget::wzNext()
         restoreMdata();
 
         // Load actuator settings back from beginning of wizard
-        actuatorSettingsObj->setData(previousActuatorSettingsData);
+        actuatorSettingsObj->setData(memento.actuatorSettingsData);
 
         // Force flight mode neutral to middle and Throttle neutral at 4%
         adjustSpecialNeutrals();
@@ -802,6 +805,12 @@ void ConfigInputWidget::wizardTearDownStep(enum wizardSteps step)
         disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(identifyControls()));
         wizardUi->wzNext->setEnabled(true);
         setTxMovement(nothing);
+        /* If flight mode stick isn't identified, force flight mode number to be 1 */
+        manualSettingsData = manualSettingsObj->getData();
+        if (manualSettingsData.ChannelGroups[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE] ==
+            ManualControlSettings::CHANNELGROUPS_NONE) {
+            forceOneFlightMode();
+        }
         break;
     case wizardIdentifyCenter:
         manualCommandData  = manualCommandObj->getData();
@@ -882,21 +891,32 @@ void ConfigInputWidget::restoreMdata()
  */
 void ConfigInputWidget::setChannel(int newChan)
 {
+    bool canBeSkipped = false;
+
     if (newChan == ManualControlSettings::CHANNELGROUPS_COLLECTIVE) {
-        wizardUi->identifyStickInstructions->setText(QString(tr("Please enable throttle hold mode.\n\nMove the Collective Pitch stick.")));
+        wizardUi->identifyStickInstructions->setText(QString(tr("<p>Please enable throttle hold mode.</p>"
+                                                                "<p>Move the Collective Pitch stick.</p>")));
     } else if (newChan == ManualControlSettings::CHANNELGROUPS_FLIGHTMODE) {
-        wizardUi->identifyStickInstructions->setText(QString(tr("Please toggle the Flight Mode switch.\n\nFor switches you may have to repeat this rapidly.")));
+        wizardUi->identifyStickInstructions->setText(QString(tr("<p>Please toggle the Flight Mode switch.</p>"
+                                                                "<p>For switches you may have to repeat this rapidly.</p>"
+                                                                "<p>Alternatively, you can click Next to skip this channel, but you will get only <b>ONE</b> Flight Mode.</p>")));
+        canBeSkipped = true;
     } else if ((transmitterType == heli) && (newChan == ManualControlSettings::CHANNELGROUPS_THROTTLE)) {
-        wizardUi->identifyStickInstructions->setText(QString(tr("Please disable throttle hold mode.\n\nMove the Throttle stick.")));
+        wizardUi->identifyStickInstructions->setText(QString(tr("<p>Please disable throttle hold mode.</p>"
+                                                                "<p>Move the Throttle stick.</p>")));
     } else {
-        wizardUi->identifyStickInstructions->setText(QString(tr("Please move each control one at a time according to the instructions and picture below.\n\n"
-                                                                "Move the %1 stick.")).arg(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan)));
+        wizardUi->identifyStickInstructions->setText(QString(tr("<p>Please move each control one at a time according to the instructions and picture below.</p>"
+                                                                "<p>Move the %1 stick.</p>")).arg(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan)));
     }
 
     if (manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan).contains("Accessory")) {
+        wizardUi->identifyStickInstructions->setText(wizardUi->identifyStickInstructions->text() + tr("<p>Alternatively, click Next to skip this channel.</p>"));
+        canBeSkipped = true;
+    }
+
+    if (canBeSkipped) {
         wizardUi->wzNext->setEnabled(true);
         wizardUi->wzNext->setText(tr("Next / Skip"));
-        wizardUi->identifyStickInstructions->setText(wizardUi->identifyStickInstructions->text() + tr(" Alternatively, click Next to skip this channel."));
     } else {
         wizardUi->wzNext->setEnabled(false);
     }
@@ -1674,7 +1694,7 @@ void ConfigInputWidget::simpleCalibration(bool enable)
 
         // Stash actuatorSettings
         actuatorSettingsData = actuatorSettingsObj->getData();
-        previousActuatorSettingsData = actuatorSettingsData;
+        memento.actuatorSettingsData = actuatorSettingsData;
 
         // Disable all actuators
         resetActuatorSettings();
@@ -1720,7 +1740,7 @@ void ConfigInputWidget::simpleCalibration(bool enable)
         manualSettingsObj->setData(manualSettingsData);
 
         // Load actuator settings back from beginning of manual calibration
-        actuatorSettingsObj->setData(previousActuatorSettingsData);
+        actuatorSettingsObj->setData(memento.actuatorSettingsData);
 
         ui->configurationWizard->setEnabled(true);
         ui->saveRCInputToRAM->setEnabled(true);
@@ -1778,9 +1798,10 @@ void ConfigInputWidget::resetChannelSettings()
 {
     manualSettingsData = manualSettingsObj->getData();
     // Clear all channel data : Channel Type (PPM,PWM..) and Number
-    for (unsigned int channel = 0; channel < 9; channel++) {
+    for (unsigned int channel = 0; channel < ManualControlSettings::CHANNELNUMBER_NUMELEM; channel++) {
         manualSettingsData.ChannelGroups[channel] = ManualControlSettings::CHANNELGROUPS_NONE;
-        manualSettingsData.ChannelNumber[channel] = 0;
+        manualSettingsData.ChannelNumber[channel] = CHANNEL_NUMBER_NONE;
+        manualSettingsData.FlightModeNumber = DEFAULT_FLIGHT_MODE_NUMBER;
         manualSettingsObj->setData(manualSettingsData);
     }
 }
@@ -1819,7 +1840,7 @@ void ConfigInputWidget::resetActuatorSettings()
 
 void ConfigInputWidget::forceOneFlightMode()
 {
-    manualCommandData = manualCommandObj->getData();
+    manualSettingsData = manualSettingsObj->getData();
     manualSettingsData.FlightModeNumber = 1;
     manualSettingsObj->setData(manualSettingsData);
 }

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

@@ -128,21 +128,25 @@ private:
 
     ManualControlSettings *manualSettingsObj;
     ManualControlSettings::DataFields manualSettingsData;
-    ManualControlSettings::DataFields previousManualSettingsData;
 
     ActuatorSettings *actuatorSettingsObj;
     ActuatorSettings::DataFields actuatorSettingsData;
-    ActuatorSettings::DataFields previousActuatorSettingsData;
 
     FlightModeSettings *flightModeSettingsObj;
     FlightModeSettings::DataFields flightModeSettingsData;
-    FlightModeSettings::DataFields previousFlightModeSettingsData;
     ReceiverActivity *receiverActivityObj;
     ReceiverActivity::DataFields receiverActivityData;
 
     SystemSettings *systemSettingsObj;
     SystemSettings::DataFields systemSettingsData;
-    SystemSettings::DataFields previousSystemSettingsData;
+
+    typedef struct {
+        ManualControlSettings::DataFields manualSettingsData;
+        ActuatorSettings::DataFields actuatorSettingsData;
+        FlightModeSettings::DataFields    flightModeSettingsData;
+        SystemSettings::DataFields systemSettingsData;
+    } Memento;
+    Memento memento;
 
     QSvgRenderer *m_renderer;
 

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

@@ -49,6 +49,8 @@ GeneralSettings::GeneralSettings() :
     m_autoSelect(true),
     m_useUDPMirror(false),
     m_useExpertMode(false),
+    m_collectUsageData(true),
+    m_showUsageDataDisclaimer(true),
     m_dialog(0)
 {}
 
@@ -125,6 +127,7 @@ QWidget *GeneralSettings::createPage(QWidget *parent)
     m_page->checkAutoSelect->setChecked(m_autoSelect);
     m_page->cbUseUDPMirror->setChecked(m_useUDPMirror);
     m_page->cbExpertMode->setChecked(m_useExpertMode);
+    m_page->cbUsageData->setChecked(m_collectUsageData);
     m_page->colorButton->setColor(StyleHelper::baseColor());
 
     connect(m_page->resetButton, SIGNAL(clicked()), this, SLOT(resetInterfaceColor()));
@@ -145,6 +148,7 @@ void GeneralSettings::apply()
     m_useExpertMode = m_page->cbExpertMode->isChecked();
     m_autoConnect   = m_page->checkAutoConnect->isChecked();
     m_autoSelect    = m_page->checkAutoSelect->isChecked();
+    setCollectUsageData(m_page->cbUsageData->isChecked());
 }
 
 void GeneralSettings::finish()
@@ -155,12 +159,15 @@ void GeneralSettings::finish()
 void GeneralSettings::readSettings(QSettings *qs)
 {
     qs->beginGroup(QLatin1String("General"));
-    m_language      = qs->value(QLatin1String("OverrideLanguage"), QLocale::system().name()).toString();
+    m_language           = qs->value(QLatin1String("OverrideLanguage"), QLocale::system().name()).toString();
     m_saveSettingsOnExit = qs->value(QLatin1String("SaveSettingsOnExit"), m_saveSettingsOnExit).toBool();
-    m_autoConnect   = qs->value(QLatin1String("AutoConnect"), m_autoConnect).toBool();
-    m_autoSelect    = qs->value(QLatin1String("AutoSelect"), m_autoSelect).toBool();
-    m_useUDPMirror  = qs->value(QLatin1String("UDPMirror"), m_useUDPMirror).toBool();
-    m_useExpertMode = qs->value(QLatin1String("ExpertMode"), m_useExpertMode).toBool();
+    m_autoConnect        = qs->value(QLatin1String("AutoConnect"), m_autoConnect).toBool();
+    m_autoSelect         = qs->value(QLatin1String("AutoSelect"), m_autoSelect).toBool();
+    m_useUDPMirror       = qs->value(QLatin1String("UDPMirror"), m_useUDPMirror).toBool();
+    m_useExpertMode      = qs->value(QLatin1String("ExpertMode"), m_useExpertMode).toBool();
+    m_collectUsageData   = qs->value(QLatin1String("CollectUsageData"), m_collectUsageData).toBool();
+    m_showUsageDataDisclaimer = qs->value(QLatin1String("ShowUsageDataDisclaimer"), m_showUsageDataDisclaimer).toBool();
+    m_lastUsageHash      = qs->value(QLatin1String("LastUsageHash"), m_lastUsageHash).toString();
     qs->endGroup();
 }
 
@@ -179,6 +186,9 @@ void GeneralSettings::saveSettings(QSettings *qs)
     qs->setValue(QLatin1String("AutoSelect"), m_autoSelect);
     qs->setValue(QLatin1String("UDPMirror"), m_useUDPMirror);
     qs->setValue(QLatin1String("ExpertMode"), m_useExpertMode);
+    qs->setValue(QLatin1String("CollectUsageData"), m_collectUsageData);
+    qs->setValue(QLatin1String("ShowUsageDataDisclaimer"), m_showUsageDataDisclaimer);
+    qs->setValue(QLatin1String("LastUsageHash"), m_lastUsageHash);
     qs->endGroup();
 }
 
@@ -249,11 +259,44 @@ bool GeneralSettings::useUDPMirror() const
     return m_useUDPMirror;
 }
 
+bool GeneralSettings::collectUsageData() const
+{
+    return m_collectUsageData;
+}
+
+bool GeneralSettings::showUsageDataDisclaimer() const
+{
+    return m_showUsageDataDisclaimer;
+}
+
+QString GeneralSettings::lastUsageHash() const
+{
+    return m_lastUsageHash;
+}
+
 bool GeneralSettings::useExpertMode() const
 {
     return m_useExpertMode;
 }
 
+bool GeneralSettings::setCollectUsageData(bool collect)
+{
+    if (collect && collect != m_collectUsageData) {
+        setShowUsageDataDisclaimer(true);
+    }
+    m_collectUsageData = collect;
+}
+
+bool GeneralSettings::setShowUsageDataDisclaimer(bool show)
+{
+    m_showUsageDataDisclaimer = show;
+}
+
+void GeneralSettings::setLastUsageHash(QString hash)
+{
+    m_lastUsageHash = hash;
+}
+
 void GeneralSettings::slotAutoConnect(int value)
 {
     if (value == Qt::Checked) {

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

@@ -57,10 +57,15 @@ public:
     bool autoConnect() const;
     bool autoSelect() const;
     bool useUDPMirror() const;
+    bool collectUsageData() const;
+    bool showUsageDataDisclaimer() const;
+    QString lastUsageHash() const;
     void readSettings(QSettings *qs);
     void saveSettings(QSettings *qs);
     bool useExpertMode() const;
-signals:
+    bool setCollectUsageData(bool collect);
+    bool setShowUsageDataDisclaimer(bool show);
+    void setLastUsageHash(QString hash);
 
 private slots:
     void resetInterfaceColor();
@@ -79,6 +84,9 @@ private:
     bool m_autoSelect;
     bool m_useUDPMirror;
     bool m_useExpertMode;
+    bool m_collectUsageData;
+    bool m_showUsageDataDisclaimer;
+    QString m_lastUsageHash;
     QPointer<QWidget> m_dialog;
     QList<QTextCodec *> m_codecs;
 };

ground/openpilotgcs/src/plugins/coreplugin/generalsettings.ui

@@ -11,7 +11,16 @@
    </rect>
   </property>
   <layout class="QVBoxLayout" name="verticalLayout_2">
-   <property name="margin">
+   <property name="leftMargin">
+    <number>0</number>
+   </property>
+   <property name="topMargin">
+    <number>0</number>
+   </property>
+   <property name="rightMargin">
+    <number>0</number>
+   </property>
+   <property name="bottomMargin">
     <number>0</number>
    </property>
    <item>
@@ -20,17 +29,73 @@
       <string>General settings</string>
      </property>
      <layout class="QGridLayout" name="gridLayout">
-      <item row="1" column="0">
-       <widget class="QLabel" name="colorLabel">
+      <item row="0" column="0">
+       <widget class="QLabel" name="label_3">
         <property name="text">
-         <string>User interface color:</string>
+         <string>Language:</string>
         </property>
        </widget>
       </item>
-      <item row="1" column="1">
+      <item row="14" column="0">
+       <widget class="QLabel" name="labelExpert">
+        <property name="text">
+         <string>Expert Mode:</string>
+        </property>
+       </widget>
+      </item>
+      <item row="13" column="2">
+       <widget class="QCheckBox" name="cbUseUDPMirror">
+        <property name="text">
+         <string/>
+        </property>
+       </widget>
+      </item>
+      <item row="12" column="2">
+       <widget class="QCheckBox" name="checkAutoSelect">
+        <property name="enabled">
+         <bool>false</bool>
+        </property>
+        <property name="text">
+         <string/>
+        </property>
+        <property name="checked">
+         <bool>true</bool>
+        </property>
+       </widget>
+      </item>
+      <item row="11" column="0">
+       <widget class="QLabel" name="label_5">
+        <property name="text">
+         <string>Automatically connect an OpenPilot USB device:</string>
+        </property>
+        <property name="wordWrap">
+         <bool>true</bool>
+        </property>
+       </widget>
+      </item>
+      <item row="10" column="2">
+       <widget class="QCheckBox" name="checkBoxSaveOnExit">
+        <property name="text">
+         <string/>
+        </property>
+        <property name="checked">
+         <bool>true</bool>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="2">
        <widget class="QWidget" name="widget" native="true">
         <layout class="QGridLayout" name="gridLayout_2">
-         <property name="margin">
+         <property name="leftMargin">
+          <number>0</number>
+         </property>
+         <property name="topMargin">
+          <number>0</number>
+         </property>
+         <property name="rightMargin">
+          <number>0</number>
+         </property>
+         <property name="bottomMargin">
           <number>0</number>
          </property>
          <item row="0" column="1">
@@ -82,46 +147,46 @@
         </layout>
        </widget>
       </item>
-      <item row="9" column="1">
+      <item row="1" column="0">
+       <widget class="QLabel" name="colorLabel">
+        <property name="text">
+         <string>User interface color:</string>
+        </property>
+       </widget>
+      </item>
+      <item row="15" column="0">
+       <widget class="QLabel" name="labelExpert_2">
+        <property name="text">
+         <string>Contribute usage statistics:</string>
+        </property>
+       </widget>
+      </item>
+      <item row="9" column="2">
        <widget class="QWidget" name="widget_2" native="true">
         <layout class="QGridLayout" name="gridLayout_3">
-         <property name="margin">
+         <property name="leftMargin">
+          <number>0</number>
+         </property>
+         <property name="topMargin">
+          <number>0</number>
+         </property>
+         <property name="rightMargin">
+          <number>0</number>
+         </property>
+         <property name="bottomMargin">
           <number>0</number>
          </property>
         </layout>
        </widget>
       </item>
-      <item row="10" column="1">
-       <widget class="QCheckBox" name="checkBoxSaveOnExit">
+      <item row="14" column="2">
+       <widget class="QCheckBox" name="cbExpertMode">
         <property name="text">
          <string/>
         </property>
-        <property name="checked">
-         <bool>true</bool>
-        </property>
        </widget>
       </item>
-      <item row="10" column="0">
-       <widget class="QLabel" name="label_4">
-        <property name="text">
-         <string>Save configuration settings on exit:</string>
-        </property>
-        <property name="wordWrap">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item row="11" column="0">
-       <widget class="QLabel" name="label_5">
-        <property name="text">
-         <string>Automatically connect an OpenPilot USB device:</string>
-        </property>
-        <property name="wordWrap">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item row="11" column="1">
+      <item row="11" column="2">
        <widget class="QCheckBox" name="checkAutoConnect">
         <property name="text">
          <string/>
@@ -131,58 +196,14 @@
         </property>
        </widget>
       </item>
-      <item row="12" column="0">
-       <widget class="QLabel" name="label_6">
-        <property name="text">
-         <string>Automatically select an OpenPilot USB device:</string>
-        </property>
-        <property name="wordWrap">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item row="12" column="1">
-       <widget class="QCheckBox" name="checkAutoSelect">
-        <property name="enabled">
-         <bool>false</bool>
-        </property>
-        <property name="text">
-         <string/>
-        </property>
-        <property name="checked">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item row="13" column="1">
-       <widget class="QCheckBox" name="cbUseUDPMirror">
-        <property name="text">
-         <string/>
-        </property>
-       </widget>
-      </item>
       <item row="13" column="0">
        <widget class="QLabel" name="labelUDP">
         <property name="text">
-         <string>Use UDP Mirror</string>
+         <string>Use UDP Mirror:</string>
         </property>
        </widget>
       </item>
-      <item row="14" column="0">
-       <widget class="QLabel" name="labelExpert">
-        <property name="text">
-         <string>Expert Mode</string>
-        </property>
-       </widget>
-      </item>
-      <item row="14" column="1">
-       <widget class="QCheckBox" name="cbExpertMode">
-        <property name="text">
-         <string/>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="1">
+      <item row="0" column="2">
        <layout class="QHBoxLayout" name="horizontalLayout">
         <item>
          <widget class="QComboBox" name="languageBox"/>
@@ -202,10 +223,33 @@
         </item>
        </layout>
       </item>
-      <item row="0" column="0">
-       <widget class="QLabel" name="label_3">
+      <item row="10" column="0">
+       <widget class="QLabel" name="label_4">
         <property name="text">
-         <string>Language:</string>
+         <string>Save configuration settings on exit:</string>
+        </property>
+        <property name="wordWrap">
+         <bool>true</bool>
+        </property>
+       </widget>
+      </item>
+      <item row="12" column="0">
+       <widget class="QLabel" name="label_6">
+        <property name="text">
+         <string>Automatically select an OpenPilot USB device:</string>
+        </property>
+        <property name="wordWrap">
+         <bool>true</bool>
+        </property>
+       </widget>
+      </item>
+      <item row="15" column="2">
+       <widget class="QCheckBox" name="cbUsageData">
+        <property name="text">
+         <string/>
+        </property>
+        <property name="checked">
+         <bool>true</bool>
         </property>
        </widget>
       </item>

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

@@ -90,6 +90,7 @@ modelMapProxy::overlayType modelMapProxy::overlayTranslate(int type)
     case MapDataDelegate::MODE_FOLLOWVECTOR:
     case MapDataDelegate::MODE_VELOCITY:
     case MapDataDelegate::MODE_LAND:
+    case MapDataDelegate::MODE_AUTOTAKEOFF:
     case MapDataDelegate::MODE_BRAKE:
         return OVERLAY_LINE;
 

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

@@ -114,6 +114,7 @@ void MapDataDelegate::loadComboBox(QComboBox *combo, flightDataModel::pathPlanDa
         combo->addItem("Set Accessory", MODE_SETACCESSORY);
         combo->addItem("Disarm Alarm", MODE_DISARMALARM);
         combo->addItem("Land", MODE_LAND);
+        combo->addItem("AutoTakeoff", MODE_AUTOTAKEOFF);
         combo->addItem("Brake", MODE_BRAKE);
         combo->addItem("Velocity", MODE_VELOCITY);
 

ground/openpilotgcs/src/plugins/opmap/widgetdelegates.h

@@ -31,19 +31,19 @@
 #include <QComboBox>
 #include "flightdatamodel.h"
 
-
 class MapDataDelegate : public QItemDelegate {
     Q_OBJECT
 
 public:
     typedef enum { MODE_GOTOENDPOINT  = 0, MODE_FOLLOWVECTOR = 1, MODE_CIRCLERIGHT = 2, MODE_CIRCLELEFT = 3,
-                   MODE_FIXEDATTITUDE = 8, MODE_SETACCESSORY = 9, MODE_DISARMALARM = 10, MODE_LAND = 11,
-                   MODE_BRAKE = 12, MODE_VELOCITY = 13 } ModeOptions;
+                   MODE_FIXEDATTITUDE = 4, MODE_SETACCESSORY = 5, MODE_DISARMALARM = 6, MODE_LAND = 7,
+                   MODE_BRAKE = 8, MODE_VELOCITY = 9, MODE_AUTOTAKEOFF = 10 } ModeOptions;
 
     typedef enum { ENDCONDITION_NONE = 0, ENDCONDITION_TIMEOUT = 1, ENDCONDITION_DISTANCETOTARGET = 2,
                    ENDCONDITION_LEGREMAINING = 3, ENDCONDITION_BELOWERROR = 4, ENDCONDITION_ABOVEALTITUDE = 5,
                    ENDCONDITION_ABOVESPEED = 6, ENDCONDITION_POINTINGTOWARDSNEXT = 7, ENDCONDITION_PYTHONSCRIPT = 8,
                    ENDCONDITION_IMMEDIATE = 9 } EndConditionOptions;
+
     typedef enum { COMMAND_ONCONDITIONNEXTWAYPOINT = 0, COMMAND_ONNOTCONDITIONNEXTWAYPOINT = 1,
                    COMMAND_ONCONDITIONJUMPWAYPOINT = 2, COMMAND_ONNOTCONDITIONJUMPWAYPOINT = 3,
                    COMMAND_IFCONDITIONJUMPWAYPOINTELSENEXTWAYPOINT = 4 } CommandOptions;

ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp

@@ -18,6 +18,7 @@
 #include "extensionsystem/pluginmanager.h"
 #include "uavobjectmanager.h"
 #include "uavobject.h"
+#include "flightbatterysettings.h"
 #include "utils/svgimageprovider.h"
 #ifdef USE_OSG
 #include "osgearth.h"
@@ -81,6 +82,8 @@ PfdQmlGadgetWidget::PfdQmlGadgetWidget(QWindow *parent) :
 
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
+    m_uavoManager = pm->getObject<UAVObjectManager>();
+    Q_ASSERT(m_uavoManager);
 
     foreach(const QString &objectName, objectsToExport) {
         UAVObject *object = objManager->getObject(objectName);
@@ -124,6 +127,14 @@ void PfdQmlGadgetWidget::setQmlFile(QString fn)
     }
 }
 
+void PfdQmlGadgetWidget::resetConsumedEnergy()
+{
+    FlightBatterySettings *mBatterySettings = FlightBatterySettings::GetInstance(m_uavoManager);
+
+    mBatterySettings->setResetConsumedEnergy(true);
+    mBatterySettings->setData(mBatterySettings->getData());
+}
+
 void PfdQmlGadgetWidget::setEarthFile(QString arg)
 {
     if (m_earthFile != arg) {

ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.h

@@ -18,6 +18,7 @@
 #define PFDQMLGADGETWIDGET_H_
 
 #include "pfdqmlgadgetconfiguration.h"
+#include "uavobjectmanager.h"
 #include <QQuickView>
 
 class PfdQmlGadgetWidget : public QQuickView {
@@ -84,6 +85,8 @@ public:
         return m_altitude;
     }
 
+    Q_INVOKABLE void resetConsumedEnergy();
+
 public slots:
     void setEarthFile(QString arg);
     void setTerrainEnabled(bool arg);
@@ -119,6 +122,7 @@ protected:
     void mouseReleaseEvent(QMouseEvent *event);
 
 private:
+    UAVObjectManager *m_uavoManager;
     QString m_qmlFileName;
     QString m_earthFile;
     bool m_openGLEnabled;

ground/openpilotgcs/src/plugins/plugins.pro

@@ -252,3 +252,11 @@ plugin_flightlog.depends += plugin_uavobjects
 plugin_flightlog.depends += plugin_uavtalk
 SUBDIRS += plugin_flightlog
 
+# Usage Tracker plugin
+plugin_usagetracker.subdir = usagetracker
+plugin_usagetracker.depends = plugin_coreplugin
+plugin_usagetracker.depends += plugin_uavobjects
+plugin_usagetracker.depends += plugin_uavtalk
+plugin_setupwizard.depends += plugin_uavobjectutil
+SUBDIRS += plugin_usagetracker
+

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

@@ -28,6 +28,7 @@ OTHER_FILES += UAVObjects.pluginspec
 # Add in all of the synthetic/generated uavobject files
 HEADERS += \
     $$UAVOBJECT_SYNTHETICS/statusgrounddrive.h \
+    $$UAVOBJECT_SYNTHETICS/statusvtolautotakeoff.h \
     $$UAVOBJECT_SYNTHETICS/pidstatus.h \
     $$UAVOBJECT_SYNTHETICS/statusvtolland.h \
     $$UAVOBJECT_SYNTHETICS/vtolselftuningstats.h \
@@ -138,6 +139,7 @@ HEADERS += \
 
 SOURCES += \
     $$UAVOBJECT_SYNTHETICS/statusgrounddrive.cpp \
+    $$UAVOBJECT_SYNTHETICS/statusvtolautotakeoff.cpp \
     $$UAVOBJECT_SYNTHETICS/pidstatus.cpp \
     $$UAVOBJECT_SYNTHETICS/statusvtolland.cpp \
     $$UAVOBJECT_SYNTHETICS/vtolselftuningstats.cpp \

ground/openpilotgcs/src/plugins/usagetracker/usagetracker.pluginspec

@@ -0,0 +1,12 @@
+<plugin name="UsageTracker" version="1.0.0" compatVersion="1.0.0">
+    <vendor>The OpenPilot Project</vendor>
+    <copyright>(C) 2015 OpenPilot Project</copyright>
+    <description>A plugin that tracks GCS usage</description>
+    <url>http://www.openpilot.org</url>
+    <dependencyList>
+        <dependency name="Core" version="1.0.0"/>
+        <dependency name="UAVTalk" version="1.0.0"/>
+        <dependency name="UAVObjectUtil" version="1.0.0"/>
+        <dependency name="UAVObjects" version="1.0.0"/>
+    </dependencyList>
+</plugin>

ground/openpilotgcs/src/plugins/usagetracker/usagetracker.pro

@@ -0,0 +1,16 @@
+
+TEMPLATE = lib
+TARGET = UsageTracker
+QT += network
+
+include(../../openpilotgcsplugin.pri)
+include(../../libs/version_info/version_info.pri)
+include(../../plugins/coreplugin/coreplugin.pri)
+include(../../plugins/uavobjects/uavobjects.pri)
+include(../../plugins/uavobjectutil/uavobjectutil.pri)
+include(../../plugins/uavtalk/uavtalk.pri)
+
+HEADERS += usagetrackerplugin.h
+SOURCES += usagetrackerplugin.cpp
+
+OTHER_FILES += usagetracker.pluginspec

ground/openpilotgcs/src/plugins/usagetracker/usagetrackerplugin.cpp

@@ -0,0 +1,280 @@
+/**
+ ******************************************************************************
+ *
+ * @file       usagetrackerplugin.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup UsageTrackerPlugin Usage Tracker Plugin
+ * @{
+ * @brief A plugin tracking GCS usage
+ *****************************************************************************/
+/*
+ * 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 "usagetrackerplugin.h"
+#include <QtPlugin>
+#include <QStringList>
+#include <QtNetwork/QNetworkAccessManager>
+#include <QtNetwork/QNetworkRequest>
+#include <QtNetwork/QNetworkReply>
+#include <extensionsystem/pluginmanager.h>
+#include <QCheckBox>
+#include <QDebug>
+#include <QMessageBox>
+#include <uavobjectutil/devicedescriptorstruct.h>
+#include <uavobjectutil/uavobjectutilmanager.h>
+#include "version_info/version_info.h"
+#include "coreplugin/icore.h"
+#include <uavtalk/telemetrymanager.h>
+
+UsageTrackerPlugin::UsageTrackerPlugin() :
+    m_telemetryManager(NULL)
+{}
+
+UsageTrackerPlugin::~UsageTrackerPlugin()
+{}
+
+bool UsageTrackerPlugin::initialize(const QStringList & args, QString *errMsg)
+{
+    Q_UNUSED(args);
+    Q_UNUSED(errMsg);
+
+    return true;
+}
+
+void UsageTrackerPlugin::extensionsInitialized()
+{
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+
+    m_telemetryManager = pm->getObject<TelemetryManager>();
+    connect(m_telemetryManager, SIGNAL(connected()), this, SLOT(onAutopilotConnect()));
+}
+
+void UsageTrackerPlugin::shutdown()
+{
+    if (m_telemetryManager != NULL) {
+        disconnect(m_telemetryManager, SIGNAL(connected()), this, SLOT(onAutopilotConnect()));
+    }
+}
+
+void UsageTrackerPlugin::onAutopilotConnect()
+{
+    Core::Internal::GeneralSettings *settings = getGeneralSettings();
+
+    if (settings->collectUsageData()) {
+        if (settings->showUsageDataDisclaimer()) {
+            QMessageBox message;
+            message.setWindowTitle(tr("Usage feedback"));
+            message.setIcon(QMessageBox::Information);
+            message.addButton(tr("Yes, count me in"), QMessageBox::AcceptRole);
+            message.addButton(tr("No, I will not help"), QMessageBox::RejectRole);
+            message.setText(tr("Openpilot GCS has a function to collect limited anonymous information about "
+                               "the usage of the application itself and the OpenPilot hardware connected to it.<p>"
+                               "The intention is to not include anything that can be considered sensitive "
+                               "or a threat to the users integrity. The collected information will be sent "
+                               "using a secure protocol to an OpenPilot web service and stored in a database "
+                               "for later analysis and statistical purposes.<br>"
+                               "No information will be sold or given to any third party. The sole purpose is "
+                               "to collect statistics about the usage of our software and hardware to enable us "
+                               "to make things better for you.<p>"
+                               "The following things are collected:<ul>"
+                               "<li>Bootloader version</li>"
+                               "<li>Firmware version, tag and git hash</li>"
+                               "<li>OP Hardware type, revision and mcu serial number</li>"
+                               "<li>Selected configuration parameters</li>"
+                               "<li>GCS version</li>"
+                               "<li>Operating system version and architecture</li>"
+                               "<li>Current local time</li></ul>"
+                               "The information is collected only at the time when a board is connecting to GCS.<p>"
+                               "It is possible to enable or disable this functionality in the general "
+                               "settings part of the options for the GCS application at any time.<p>"
+                               "We need your help, with your feedback we know where to improve things and what "
+                               "platforms are in use. This is a community project that depends on people being involved.<br>"
+                               "Thank You for helping us making things better and for supporting OpenPilot!"));
+            QCheckBox *disclaimerCb = new QCheckBox(tr("&Don't show this message again."));
+            disclaimerCb->setChecked(true);
+            message.setCheckBox(disclaimerCb);
+            if (message.exec() != QMessageBox::AcceptRole) {
+                settings->setCollectUsageData(false);
+                settings->setShowUsageDataDisclaimer(!message.checkBox()->isChecked());
+                return;
+            } else {
+                settings->setCollectUsageData(true);
+                settings->setShowUsageDataDisclaimer(!message.checkBox()->isChecked());
+            }
+        }
+        QTimer::singleShot(1000, this, SLOT(trackUsage()));
+    }
+}
+
+void UsageTrackerPlugin::trackUsage()
+{
+    QMap<QString, QString> parameters;
+    collectUsageParameters(parameters);
+
+    QUrlQuery query;
+    QMapIterator<QString, QString> iter(parameters);
+    while (iter.hasNext()) {
+        iter.next();
+        query.addQueryItem(iter.key(), iter.value());
+    }
+
+    // Add checksum
+    QString hash = getQueryHash(query.toString());
+
+    if (shouldSend(hash)) {
+        query.addQueryItem("hash", hash);
+
+        QUrl url("https://www.openpilot.org/opver?" + query.toString(QUrl::FullyEncoded));
+
+        QNetworkAccessManager *networkAccessManager = new QNetworkAccessManager();
+
+        // This will delete the network access manager instance when we're done
+        connect(networkAccessManager, SIGNAL(finished(QNetworkReply *)), this, SLOT(onFinished(QNetworkReply *)));
+        connect(networkAccessManager, SIGNAL(finished(QNetworkReply *)), networkAccessManager, SLOT(deleteLater()));
+
+        qDebug() << "Sending usage tracking as:" << url.toEncoded(QUrl::FullyEncoded);
+        networkAccessManager->get(QNetworkRequest(QUrl(url.toEncoded(QUrl::FullyEncoded))));
+    }
+}
+
+void UsageTrackerPlugin::collectUsageParameters(QMap<QString, QString> &parameters)
+{
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    UAVObjectUtilManager *utilMngr     = pm->getObject<UAVObjectUtilManager>();
+
+    QByteArray description = utilMngr->getBoardDescription();
+    deviceDescriptorStruct devDesc;
+
+    if (UAVObjectUtilManager::descriptionToStructure(description, devDesc)) {
+        int boardModel = utilMngr->getBoardModel();
+        parameters["board_type"]   = "0x" + QString::number(boardModel, 16).toLower();
+        parameters["board_serial"] = utilMngr->getBoardCPUSerial().toHex();
+        parameters["bl_version"]   = QString::number(utilMngr->getBootloaderRevision());
+        parameters["fw_tag"] = devDesc.gitTag;
+        parameters["fw_hash"] = devDesc.gitHash;
+        parameters["os_version"]   = QSysInfo::prettyProductName() + " " + QSysInfo::currentCpuArchitecture();
+        parameters["os_threads"]   = QString::number(QThread::idealThreadCount());
+        parameters["os_timezone"]  = QTimeZone::systemTimeZoneId();
+        parameters["gcs_version"]  = VersionInfo::revision();
+
+        // Configuration parameters
+        ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+        UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
+
+        parameters["conf_receiver"] = getUAVFieldValue(objManager, "ManualControlSettings", "ChannelGroups", 0);
+        parameters["conf_vehicle"]  = getUAVFieldValue(objManager, "SystemSettings", "AirframeType");
+
+        if ((boardModel & 0xff00) == 0x0400) {
+            // CopterControl family
+            parameters["conf_rport"] = getUAVFieldValue(objManager, "HwSettings", "CC_RcvrPort");
+            parameters["conf_mport"] = getUAVFieldValue(objManager, "HwSettings", "CC_MainPort");
+            parameters["conf_fport"] = getUAVFieldValue(objManager, "HwSettings", "CC_FlexiPort");
+        } else if ((boardModel & 0xff00) == 0x0900) {
+            // Revolution family
+            parameters["conf_rport"]  = getUAVFieldValue(objManager, "HwSettings", "RM_RcvrPort");
+            parameters["conf_mport"]  = getUAVFieldValue(objManager, "HwSettings", "RM_MainPort");
+            parameters["conf_fport"]  = getUAVFieldValue(objManager, "HwSettings", "RM_FlexiPort");
+            parameters["conf_fusion"] = getUAVFieldValue(objManager, "RevoSettings", "FusionAlgorithm");
+        }
+
+        parameters["conf_uport"]    = getUAVFieldValue(objManager, "HwSettings", "USB_HIDPort");
+        parameters["conf_vport"]    = getUAVFieldValue(objManager, "HwSettings", "USB_VCPPort");
+
+        parameters["conf_rotation"] = QString("[%1:%2:%3]")
+                                      .arg(getUAVFieldValue(objManager, "AttitudeSettings", "BoardRotation", 0))
+                                      .arg(getUAVFieldValue(objManager, "AttitudeSettings", "BoardRotation", 1))
+                                      .arg(getUAVFieldValue(objManager, "AttitudeSettings", "BoardRotation", 2));
+        parameters["conf_pidr"] = QString("[%1:%2:%3:%4][%5:%6:%7:%8][%9:%10:%11:%12]")
+                                  .arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "RollRatePID", 0))
+                                  .arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "RollRatePID", 1))
+                                  .arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "RollRatePID", 2))
+                                  .arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "RollRatePID", 3))
+                                  .arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "PitchRatePID", 0))
+                                  .arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "PitchRatePID", 1))
+                                  .arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "PitchRatePID", 2))
+                                  .arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "PitchRatePID", 3))
+                                  .arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "YawRatePID", 0))
+                                  .arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "YawRatePID", 1))
+                                  .arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "YawRatePID", 2))
+                                  .arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "YawRatePID", 3));
+        parameters["conf_pia"] = QString("[%1:%2:%3][%4:%5:%6][%7:%8:%9]")
+                                 .arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "RollPI", 0))
+                                 .arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "RollPI", 1))
+                                 .arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "RollPI", 2))
+                                 .arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "PitchPI", 0))
+                                 .arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "PitchPI", 1))
+                                 .arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "PitchPI", 2))
+                                 .arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "YawPI", 0))
+                                 .arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "YawPI", 1))
+                                 .arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "YawPI", 2));
+
+        parameters["conf_tps"]     = getUAVFieldValue(objManager, "StabilizationSettingsBank1", "EnableThrustPIDScaling");
+        parameters["conf_piro"]    = getUAVFieldValue(objManager, "StabilizationSettingsBank1", "EnablePiroComp");
+
+        parameters["conf_fmcount"] = getUAVFieldValue(objManager, "ManualControlSettings", "FlightModeNumber");
+        parameters["conf_fmodes"]  = QString("[%1:%2:%3]").arg(getUAVFieldValue(objManager, "FlightModeSettings", "FlightModePosition", 0))
+                                     .arg(getUAVFieldValue(objManager, "FlightModeSettings", "FlightModePosition", 1))
+                                     .arg(getUAVFieldValue(objManager, "FlightModeSettings", "FlightModePosition", 2));
+    }
+}
+
+void UsageTrackerPlugin::onFinished(QNetworkReply *reply)
+{
+    if (reply->error() == QNetworkReply::NoError) {
+        getGeneralSettings()->setLastUsageHash(m_lastHash);
+        qDebug() << "Updated last usage hash to:" << m_lastHash;
+    } else {
+        qDebug() << "Usage tracking failed with:" << reply->errorString();
+    }
+}
+
+QString UsageTrackerPlugin::getUAVFieldValue(UAVObjectManager *objManager, QString objectName, QString fieldName, int index) const
+{
+    UAVObject *object = objManager->getObject(objectName);
+
+    if (object != NULL) {
+        UAVObjectField *field = object->getField(fieldName);
+        if (field != NULL) {
+            return field->getValue(index).toString();
+        }
+    }
+    return tr("Unknown");
+}
+
+QString UsageTrackerPlugin::getQueryHash(QString source) const
+{
+    source += "OpenPilot Fuck Yeah!";
+    return QString(QCryptographicHash::hash(QByteArray(source.toStdString().c_str()), QCryptographicHash::Md5).toHex());
+}
+
+Core::Internal::GeneralSettings *UsageTrackerPlugin::getGeneralSettings() const
+{
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    Core::Internal::GeneralSettings *settings = pm->getObject<Core::Internal::GeneralSettings>();
+
+    return settings;
+}
+
+bool UsageTrackerPlugin::shouldSend(const QString &hash)
+{
+    if (getGeneralSettings()->lastUsageHash() == hash) {
+        return false;
+    } else {
+        m_lastHash = hash;
+        return true;
+    }
+}

ground/openpilotgcs/src/plugins/usagetracker/usagetrackerplugin.h

@@ -0,0 +1,63 @@
+/**
+ ******************************************************************************
+ *
+ * @file       usagetrackerplugin.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup UsageTrackerPlugin Usage Tracker Plugin
+ * @{
+ * @brief A plugin tracking GCS usage
+ *****************************************************************************/
+/*
+ * 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 USAGETRACKERPLUGIN_H
+#define USAGETRACKERPLUGIN_H
+
+#include <extensionsystem/iplugin.h>
+#include <coreplugin/generalsettings.h>
+
+class TelemetryManager;
+class UAVObjectManager;
+class QNetworkReply;
+
+class UsageTrackerPlugin : public ExtensionSystem::IPlugin {
+    Q_OBJECT
+                                                   Q_PLUGIN_METADATA(IID "OpenPilot.UsageTracker")
+public:
+    UsageTrackerPlugin();
+    ~UsageTrackerPlugin();
+
+    void extensionsInitialized();
+    bool initialize(const QStringList & arguments, QString *errorString);
+    void shutdown();
+
+private slots:
+    void onAutopilotConnect();
+    void trackUsage();
+    void collectUsageParameters(QMap<QString, QString> &parameters);
+    void onFinished(QNetworkReply *reply);
+
+private:
+    TelemetryManager *m_telemetryManager;
+    QString m_lastHash;
+    QString getUAVFieldValue(UAVObjectManager *objManager, QString objectName, QString fieldName, int index = 0) const;
+    QString getQueryHash(QString source) const;
+    Core::Internal::GeneralSettings *getGeneralSettings() const;
+    bool shouldSend(const QString &hash);
+};
+
+#endif // USAGETRACKERPLUGIN_H

ground/openpilotgcs/src/python.pri

@@ -1,7 +1,7 @@
 # We use python to extract git version info and generate some other files,
 # but it may be installed locally. The expected python version should be
 # kept in sync with make/tools.mk.
-PYTHON_DIR = qt-5.4.0/Tools/mingw491_32/opt/bin
+PYTHON_DIR = qt-5.4.1/Tools/mingw491_32/opt/bin
 
 # Search the python using environment override first
 OPENPILOT_TOOLS_DIR = $$(OPENPILOT_TOOLS_DIR)

hardware/Derivative/Spedix_CC3D_V2/CopterControl 3D_V2.PrjPcb

@@ -0,0 +1,1104 @@
+[Design]
+Version=1.0
+HierarchyMode=0
+ChannelRoomNamingStyle=0
+OutputPath=Project Outputs for CopterControl 3D
+LogFolderPath=
+ChannelDesignatorFormatString=$Component_$RoomName
+ChannelRoomLevelSeperator=_
+OpenOutputs=1
+ArchiveProject=0
+TimestampOutput=0
+SeparateFolders=0
+PinSwapBy_Netlabel=1
+PinSwapBy_Pin=1
+AllowPortNetNames=0
+AllowSheetEntryNetNames=1
+AppendSheetNumberToLocalNets=0
+NetlistSinglePinNets=0
+DefaultConfiguration=
+UserID=0xFFFFFFFF
+DefaultPcbProtel=1
+DefaultPcbPcad=0
+ReorderDocumentsOnCompile=1
+NameNetsHierarchically=0
+PowerPortNamesTakePriority=0
+PushECOToAnnotationFile=1
+DItemRevisionGUID=
+
+[Document1]
+DocumentPath=..\CopterControl 3D1\CopterControl 3D1.PcbLib
+AnnotationEnabled=1
+AnnotateStartValue=1
+AnnotationIndexControlEnabled=0
+AnnotateSuffix=
+AnnotateScope=All
+AnnotateOrder=-1
+DoLibraryUpdate=1
+DoDatabaseUpdate=1
+ClassGenCCAutoEnabled=1
+ClassGenCCAutoRoomEnabled=1
+ClassGenNCAutoScope=None
+DItemRevisionGUID=
+
+[Document2]
+DocumentPath=CC3D_V2.PcbDoc
+AnnotationEnabled=1
+AnnotateStartValue=1
+AnnotationIndexControlEnabled=0
+AnnotateSuffix=
+AnnotateScope=All
+AnnotateOrder=-1
+DoLibraryUpdate=1
+DoDatabaseUpdate=1
+ClassGenCCAutoEnabled=1
+ClassGenCCAutoRoomEnabled=1
+ClassGenNCAutoScope=None
+DItemRevisionGUID=
+
+[Document3]
+DocumentPath=CC3D_V2.SchDoc
+AnnotationEnabled=1
+AnnotateStartValue=1
+AnnotationIndexControlEnabled=0
+AnnotateSuffix=
+AnnotateScope=All
+AnnotateOrder=0
+DoLibraryUpdate=1
+DoDatabaseUpdate=1
+ClassGenCCAutoEnabled=1
+ClassGenCCAutoRoomEnabled=0
+ClassGenNCAutoScope=None
+DItemRevisionGUID=
+
+[Document4]
+DocumentPath=..\Assembly.OutJob
+AnnotationEnabled=1
+AnnotateStartValue=1
+AnnotationIndexControlEnabled=0
+AnnotateSuffix=
+AnnotateScope=All
+AnnotateOrder=-1
+DoLibraryUpdate=1
+DoDatabaseUpdate=1
+ClassGenCCAutoEnabled=1
+ClassGenCCAutoRoomEnabled=1
+ClassGenNCAutoScope=None
+DItemRevisionGUID=
+
+[Document5]
+DocumentPath=..\CopterControl 3D.IntLib
+AnnotationEnabled=1
+AnnotateStartValue=1
+AnnotationIndexControlEnabled=0
+AnnotateSuffix=
+AnnotateScope=All
+AnnotateOrder=-1
+DoLibraryUpdate=1
+DoDatabaseUpdate=1
+ClassGenCCAutoEnabled=1
+ClassGenCCAutoRoomEnabled=1
+ClassGenNCAutoScope=None
+DItemRevisionGUID=
+
+[GeneratedDocument1]
+DocumentPath=..\Project Outputs for CopterControl 3D\Design Rule Check - CC3D_V1.html
+DItemRevisionGUID=
+
+[SearchPath1]
+Path=..\..\..\..\Program Files (x86)\Altium Designer Summer 09\Library\*.*
+IncludeSubFolders=1
+
+[Generic_SmartPDF]
+AutoOpenFile=0
+AutoOpenOutJob=-1
+
+[Generic_SmartPDFSettings]
+ProjectMode=0
+ZoomPrecision=50
+AddNetsInformation=-1
+AddNetPins=-1
+AddNetNetLabels=-1
+AddNetPorts=-1
+ExportBOM=0
+TemplateFilename=
+TemplateStoreRelative=-1
+PCB_PrintColor=0
+SCH_PrintColor=0
+SCH_ShowNoErc=0
+SCH_ShowParameter=0
+SCH_ShowProbes=0
+SCH_ShowBlankets=0
+OutputFileName=CopterControl.SchDoc=C:\Users\David\Documents\SVN\WIP\trunk\hardware\production\CopterControl\CopterControl Schematic.pdf
+SCH_ExpandLogicalToPhysical=0
+SCH_VariantName=[No Variations]
+SCH_ExpandComponentDesignators=-1
+SCH_ExpandNetlabels=0
+SCH_ExpandPorts=0
+SCH_ExpandSheetNumber=0
+SCH_ExpandDocumentNumber=0
+SCH_HasExpandLogicalToPhysicalSheets=-1
+SaveSettingsToOutJob=0
+SCH_NoERCSymbolsToShow="Thin Cross","Thick Cross","Small Cross",Checkbox,Triangle
+SCH_ShowNote=-1
+SCH_ShowNoteCollapsed=-1
+
+[OutputGroup1]
+Name=Netlist Outputs
+Description=
+TargetPrinter=FX Docuprint M158 f-00000
+PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintWhat=1
+OutputType1=CadnetixNetlist
+OutputName1=Cadnetix Netlist
+OutputDocumentPath1=
+OutputVariantName1=
+OutputDefault1=0
+OutputType2=CalayNetlist
+OutputName2=Calay Netlist
+OutputDocumentPath2=
+OutputVariantName2=
+OutputDefault2=0
+OutputType3=EDIF
+OutputName3=EDIF for PCB
+OutputDocumentPath3=
+OutputVariantName3=
+OutputDefault3=0
+OutputType4=EESofNetlist
+OutputName4=EESof Netlist
+OutputDocumentPath4=
+OutputVariantName4=
+OutputDefault4=0
+OutputType5=IntergraphNetlist
+OutputName5=Intergraph Netlist
+OutputDocumentPath5=
+OutputVariantName5=
+OutputDefault5=0
+OutputType6=MentorBoardStationNetlist
+OutputName6=Mentor BoardStation Netlist
+OutputDocumentPath6=
+OutputVariantName6=
+OutputDefault6=0
+OutputType7=MultiWire
+OutputName7=MultiWire
+OutputDocumentPath7=
+OutputVariantName7=
+OutputDefault7=0
+OutputType8=OrCadPCB2Netlist
+OutputName8=Orcad/PCB2 Netlist
+OutputDocumentPath8=
+OutputVariantName8=
+OutputDefault8=0
+OutputType9=PADSNetlist
+OutputName9=PADS ASCII Netlist
+OutputDocumentPath9=
+OutputVariantName9=
+OutputDefault9=0
+OutputType10=Pcad
+OutputName10=Pcad for PCB
+OutputDocumentPath10=
+OutputVariantName10=
+OutputDefault10=0
+OutputType11=PCADNetlist
+OutputName11=PCAD Netlist
+OutputDocumentPath11=
+OutputVariantName11=
+OutputDefault11=0
+OutputType12=PCADnltNetlist
+OutputName12=PCADnlt Netlist
+OutputDocumentPath12=
+OutputVariantName12=
+OutputDefault12=0
+OutputType13=Protel2Netlist
+OutputName13=Protel2 Netlist
+OutputDocumentPath13=
+OutputVariantName13=
+OutputDefault13=0
+OutputType14=ProtelNetlist
+OutputName14=Protel
+OutputDocumentPath14=
+OutputVariantName14=
+OutputDefault14=0
+OutputType15=RacalNetlist
+OutputName15=Racal Netlist
+OutputDocumentPath15=
+OutputVariantName15=
+OutputDefault15=0
+OutputType16=RINFNetlist
+OutputName16=RINF Netlist
+OutputDocumentPath16=
+OutputVariantName16=
+OutputDefault16=0
+OutputType17=SciCardsNetlist
+OutputName17=SciCards Netlist
+OutputDocumentPath17=
+OutputVariantName17=
+OutputDefault17=0
+OutputType18=SIMetrixNetlist
+OutputName18=SIMetrix
+OutputDocumentPath18=
+OutputVariantName18=
+OutputDefault18=0
+OutputType19=SIMPLISNetlist
+OutputName19=SIMPLIS
+OutputDocumentPath19=
+OutputVariantName19=
+OutputDefault19=0
+OutputType20=TangoNetlist
+OutputName20=Tango Netlist
+OutputDocumentPath20=
+OutputVariantName20=
+OutputDefault20=0
+OutputType21=TelesisNetlist
+OutputName21=Telesis Netlist
+OutputDocumentPath21=
+OutputVariantName21=
+OutputDefault21=0
+OutputType22=Verilog
+OutputName22=Verilog File
+OutputDocumentPath22=
+OutputVariantName22=
+OutputDefault22=0
+OutputType23=VHDL
+OutputName23=VHDL File
+OutputDocumentPath23=
+OutputVariantName23=
+OutputDefault23=0
+OutputType24=WireListNetlist
+OutputName24=WireList Netlist
+OutputDocumentPath24=
+OutputVariantName24=
+OutputDefault24=0
+OutputType25=XSpiceNetlist
+OutputName25=XSpice Netlist
+OutputDocumentPath25=
+OutputVariantName25=
+OutputDefault25=0
+
+[OutputGroup2]
+Name=Simulator Outputs
+Description=
+TargetPrinter=FX Docuprint M158 f-00000
+PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintWhat=1
+OutputType1=AdvSimNetlist
+OutputName1=Mixed Sim
+OutputDocumentPath1=
+OutputVariantName1=
+OutputDefault1=0
+OutputType2=SIMetrix_Sim
+OutputName2=SIMetrix
+OutputDocumentPath2=
+OutputVariantName2=
+OutputDefault2=0
+OutputType3=SIMPLIS_Sim
+OutputName3=SIMPLIS
+OutputDocumentPath3=
+OutputVariantName3=
+OutputDefault3=0
+
+[OutputGroup3]
+Name=Documentation Outputs
+Description=
+TargetPrinter=FX Docuprint M158 f-00000
+PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintWhat=1
+OutputType1=Composite
+OutputName1=Composite Drawing
+OutputDocumentPath1=C:\Users\David\Documents\SVN\OP-WIP\trunk\hardware\production\CopterControl\CopterControl.PcbDoc
+OutputVariantName1=
+OutputDefault1=0
+PageOptions1=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=0
+Configuration1_Name1=OutputConfigurationParameter1
+Configuration1_Item1=PrintArea=DesignExtent|PrintAreaLowerLeftCornerX=0|PrintAreaLowerLeftCornerY=0|PrintAreaUpperRightCornerX=0|PrintAreaUpperRightCornerY=0|Record=PcbPrintView
+Configuration1_Name2=OutputConfigurationParameter2
+Configuration1_Item2=IncludeBottomLayerComponents=True|IncludeMultiLayerComponents=True|IncludeTopLayerComponents=True|Index=0|Mirror=False|Name=Multilayer Composite Print|PadNumberFontSize=14|Record=PcbPrintOut|ShowHoles=False|ShowPadNets=False|ShowPadNumbers=False|SubstituteFonts=False
+Configuration1_Name3=OutputConfigurationParameter3
+Configuration1_Item3=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=TopOverlay|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration1_Name4=OutputConfigurationParameter4
+Configuration1_Item4=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=BottomOverlay|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration1_Name5=OutputConfigurationParameter5
+Configuration1_Item5=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=TopLayer|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration1_Name6=OutputConfigurationParameter6
+Configuration1_Item6=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=MidLayer1|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration1_Name7=OutputConfigurationParameter7
+Configuration1_Item7=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=BottomLayer|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration1_Name8=OutputConfigurationParameter8
+Configuration1_Item8=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical1|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration1_Name9=OutputConfigurationParameter9
+Configuration1_Item9=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical5|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration1_Name10=OutputConfigurationParameter10
+Configuration1_Item10=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical6|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration1_Name11=OutputConfigurationParameter11
+Configuration1_Item11=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical7|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration1_Name12=OutputConfigurationParameter12
+Configuration1_Item12=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical13|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration1_Name13=OutputConfigurationParameter13
+Configuration1_Item13=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical15|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration1_Name14=OutputConfigurationParameter14
+Configuration1_Item14=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=MultiLayer|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+OutputType2=Logic Analyser Print
+OutputName2=Logic Analyser Prints
+OutputDocumentPath2=
+OutputVariantName2=
+OutputDefault2=0
+PageOptions2=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType3=OpenBus Print
+OutputName3=OpenBus Prints
+OutputDocumentPath3=
+OutputVariantName3=
+OutputDefault3=0
+PageOptions3=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType4=PCB 3D Print
+OutputName4=PCB 3D Prints
+OutputDocumentPath4=
+OutputVariantName4=[No Variations]
+OutputDefault4=0
+PageOptions4=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType5=PCB Print
+OutputName5=PCB Prints
+OutputDocumentPath5=
+OutputVariantName5=
+OutputDefault5=0
+PageOptions5=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType6=Schematic Print
+OutputName6=Schematic Prints
+OutputDocumentPath6=
+OutputVariantName6=
+OutputDefault6=0
+PageOptions6=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType7=SimView Print
+OutputName7=SimView Prints
+OutputDocumentPath7=
+OutputVariantName7=
+OutputDefault7=0
+PageOptions7=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType8=Wave Print
+OutputName8=Wave Prints
+OutputDocumentPath8=
+OutputVariantName8=
+OutputDefault8=0
+PageOptions8=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType9=WaveSim Print
+OutputName9=WaveSim Prints
+OutputDocumentPath9=
+OutputVariantName9=
+OutputDefault9=0
+PageOptions9=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+
+[OutputGroup4]
+Name=Assembly Outputs
+Description=
+TargetPrinter=FX Docuprint M158 f-00000
+PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintWhat=1
+OutputType1=Assembly
+OutputName1=Assembly Drawings
+OutputDocumentPath1=
+OutputVariantName1=[No Variations]
+OutputDefault1=0
+PageOptions1=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType2=Pick Place
+OutputName2=Generates pick and place files
+OutputDocumentPath2=
+OutputVariantName2=[No Variations]
+OutputDefault2=0
+OutputType3=Test Points For Assembly
+OutputName3=Test Point Report
+OutputDocumentPath3=
+OutputVariantName3=[No Variations]
+OutputDefault3=0
+
+[OutputGroup5]
+Name=Fabrication Outputs
+Description=
+TargetPrinter=FX Docuprint M158 f-00000
+PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintWhat=1
+OutputType1=ODB
+OutputName1=ODB++ Files
+OutputDocumentPath1=
+OutputVariantName1=[No Variations]
+OutputDefault1=0
+OutputType2=NC Drill
+OutputName2=NC Drill Files
+OutputDocumentPath2=
+OutputVariantName2=
+OutputDefault2=0
+Configuration2_Name1=OutputConfigurationParameter1
+Configuration2_Item1=BoardEdgeRoutToolDia=2000000|GenerateBoardEdgeRout=False|GenerateDrilledSlotsG85=False|GenerateEIADrillFile=False|GenerateSeparatePlatedNonPlatedFiles=False|NumberOfDecimals=5|NumberOfUnits=2|OptimizeChangeLocationCommands=True|OriginPosition=Relative|Record=DrillView|Units=Imperial|ZeroesMode=SuppressTrailingZeroes
+OutputType3=Test Points
+OutputName3=Test Point Report
+OutputDocumentPath3=
+OutputVariantName3=
+OutputDefault3=0
+OutputType4=Plane
+OutputName4=Power-Plane Prints
+OutputDocumentPath4=
+OutputVariantName4=
+OutputDefault4=0
+PageOptions4=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType5=Mask
+OutputName5=Solder/Paste Mask Prints
+OutputDocumentPath5=
+OutputVariantName5=
+OutputDefault5=0
+PageOptions5=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType6=Drill
+OutputName6=Drill Drawing/Guides
+OutputDocumentPath6=
+OutputVariantName6=
+OutputDefault6=0
+PageOptions6=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=4.20|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+Configuration6_Name1=OutputConfigurationParameter1
+Configuration6_Item1=PrintArea=DesignExtent|PrintAreaLowerLeftCornerX=0|PrintAreaLowerLeftCornerY=0|PrintAreaUpperRightCornerX=0|PrintAreaUpperRightCornerY=0|Record=PcbPrintView
+Configuration6_Name2=OutputConfigurationParameter2
+Configuration6_Item2=IncludeBottomLayerComponents=True|IncludeMultiLayerComponents=True|IncludeTopLayerComponents=True|Index=0|Mirror=False|Name=Drill Drawing For (Bottom Layer,Top Layer)|PadNumberFontSize=14|Record=PcbPrintOut|ShowHoles=False|ShowPadNets=False|ShowPadNumbers=False|SubstituteFonts=False
+Configuration6_Name3=OutputConfigurationParameter3
+Configuration6_Item3=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=BottomLayer|DLayer2=TopLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=DrillDrawing|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration6_Name4=OutputConfigurationParameter4
+Configuration6_Item4=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical1|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration6_Name5=OutputConfigurationParameter5
+Configuration6_Item5=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical5|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration6_Name6=OutputConfigurationParameter6
+Configuration6_Item6=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical6|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration6_Name7=OutputConfigurationParameter7
+Configuration6_Item7=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical7|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration6_Name8=OutputConfigurationParameter8
+Configuration6_Item8=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical13|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration6_Name9=OutputConfigurationParameter9
+Configuration6_Item9=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical15|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration6_Name10=OutputConfigurationParameter10
+Configuration6_Item10=IncludeBottomLayerComponents=True|IncludeMultiLayerComponents=True|IncludeTopLayerComponents=True|Index=1|Mirror=False|Name=Drill Guide For (Bottom Layer,Top Layer)|PadNumberFontSize=14|Record=PcbPrintOut|ShowHoles=False|ShowPadNets=False|ShowPadNumbers=False|SubstituteFonts=False
+Configuration6_Name11=OutputConfigurationParameter11
+Configuration6_Item11=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=BottomLayer|DLayer2=TopLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=DrillGuide|Polygon=Full|PrintOutIndex=1|Record=PcbPrintLayer
+Configuration6_Name12=OutputConfigurationParameter12
+Configuration6_Item12=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical1|Polygon=Full|PrintOutIndex=1|Record=PcbPrintLayer
+Configuration6_Name13=OutputConfigurationParameter13
+Configuration6_Item13=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical5|Polygon=Full|PrintOutIndex=1|Record=PcbPrintLayer
+Configuration6_Name14=OutputConfigurationParameter14
+Configuration6_Item14=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical6|Polygon=Full|PrintOutIndex=1|Record=PcbPrintLayer
+Configuration6_Name15=OutputConfigurationParameter15
+Configuration6_Item15=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical7|Polygon=Full|PrintOutIndex=1|Record=PcbPrintLayer
+Configuration6_Name16=OutputConfigurationParameter16
+Configuration6_Item16=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical13|Polygon=Full|PrintOutIndex=1|Record=PcbPrintLayer
+Configuration6_Name17=OutputConfigurationParameter17
+Configuration6_Item17=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical15|Polygon=Full|PrintOutIndex=1|Record=PcbPrintLayer
+OutputType7=CompositeDrill
+OutputName7=Composite Drill Drawing
+OutputDocumentPath7=
+OutputVariantName7=
+OutputDefault7=0
+PageOptions7=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType8=Final
+OutputName8=Final Artwork Prints
+OutputDocumentPath8=
+OutputVariantName8=[No Variations]
+OutputDefault8=0
+PageOptions8=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType9=Gerber
+OutputName9=Gerber Files
+OutputDocumentPath9=
+OutputVariantName9=[No Variations]
+OutputDefault9=0
+Configuration9_Name1=OutputConfigurationParameter1
+Configuration9_Item1=AddToAllPlots.Set=SerializeLayerHash.Version~2,ClassName~TLayerToBoolean|CentrePlots=False|DrillDrawingSymbol=GraphicsSymbol|DrillDrawingSymbolSize=500000|EmbeddedApertures=True|FilmBorderSize=10000000|FilmXSize=200000000|FilmYSize=160000000|FlashAllFills=False|FlashPadShapes=True|G54OnApertureChange=False|GenerateDRCRulesFile=True|GenerateReliefShapes=True|GerberUnit=Imperial|IncludeUnconnectedMidLayerPads=False|LeadingAndTrailingZeroesMode=SuppressLeadingZeroes|MaxApertureSize=2500000|MinusApertureTolerance=50|Mirror.Set=SerializeLayerHash.Version~2,ClassName~TLayerToBoolean|MirrorDrillDrawingPlots=False|MirrorDrillGuidePlots=False|NumberOfDecimals=5|OptimizeChangeLocationCommands=True|OriginPosition=Relative|Panelize=False|Plot.Set=SerializeLayerHash.Version~2,ClassName~TLayerToBoolean,16973830~1,16973832~1,16973834~1,16777217~1,16842751~1,16973835~1,16973833~1,16973831~1,16908289~1,16908293~1,16973837~1,16973848~1,16973849~1|PlotPositivePlaneLayers=False|PlotUsedDrillDrawingLayerPairs=True|PlotUsedDrillGuideLayerPairs=True|PlusApertureTolerance=50|Record=GerberView|SoftwareArcs=False|Sorted=False
+
+[OutputGroup6]
+Name=Report Outputs
+Description=
+TargetPrinter=FX Docuprint M158 f-00000
+PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintWhat=1
+OutputType1=BOM_PartType
+OutputName1=Bill of Materials
+OutputDocumentPath1=
+OutputVariantName1=[No Variations]
+OutputDefault1=0
+PageOptions1=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+Configuration1_Name1=Filter
+Configuration1_Item1=545046300E5446696C74657257726170706572000D46696C7465722E416374697665090F46696C7465722E43726974657269610A04000000000000000000
+Configuration1_Name2=General
+Configuration1_Item2=OpenExported=True|AddToProject=False|ForceFit=False|NotFitted=False|Database=False|IncludePCBData=False|ShowExportOptions=True|TemplateFilename=..\Altium\BOM Digikey.xlt|BatchMode=5|FormWidth=1401|FormHeight=641|SupplierProdQty=1000|SupplierAutoQty=True|SupplierUseCachedPricing=True|SupplierCurrency=<none>
+Configuration1_Name3=GroupOrder
+Configuration1_Item3=Supplier Part Number 1=True
+Configuration1_Name4=OutputConfigurationParameter1
+Configuration1_Item4=Record=BOMPrintView|ShowNoERC=True|ShowParamSet=True|ShowProbe=True|ShowBlanket=True|ExpandDesignator=True|ExpandNetLabel=False|ExpandPort=False|ExpandSheetNum=False|ExpandDocNum=False
+Configuration1_Name5=PCBDocument
+Configuration1_Item5=
+Configuration1_Name6=SortOrder
+Configuration1_Item6=Description=Up
+Configuration1_Name7=VisibleOrder
+Configuration1_Item7=Description=113|Comment=77|Footprint=59|Value=40|Designator=56|Quantity=37|Supplier Part Number 1=174|Supplier Order Qty 1=30|Supplier Stock 1=38|Supplier Unit Price 1=29|Supplier Subtotal 1=30|Supplier 1=23|Manufacturer 1=32|Manufacturer Part Number 1=20
+OutputType2=ComponentCrossReference
+OutputName2=Component Cross Reference Report
+OutputDocumentPath2=
+OutputVariantName2=[No Variations]
+OutputDefault2=0
+OutputType3=ReportHierarchy
+OutputName3=Report Project Hierarchy
+OutputDocumentPath3=
+OutputVariantName3=[No Variations]
+OutputDefault3=0
+OutputType4=Script
+OutputName4=Script Output
+OutputDocumentPath4=
+OutputVariantName4=[No Variations]
+OutputDefault4=0
+OutputType5=SimpleBOM
+OutputName5=Simple BOM
+OutputDocumentPath5=
+OutputVariantName5=[No Variations]
+OutputDefault5=0
+OutputType6=SinglePinNetReporter
+OutputName6=Report Single Pin Nets
+OutputDocumentPath6=
+OutputVariantName6=[No Variations]
+OutputDefault6=0
+OutputType7=Design Rules Check
+OutputName7=Design Rules Check
+OutputDocumentPath7=
+OutputVariantName7=
+OutputDefault7=0
+PageOptions7=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType8=Electrical Rules Check
+OutputName8=Electrical Rules Check
+OutputDocumentPath8=
+OutputVariantName8=
+OutputDefault8=0
+PageOptions8=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+
+[OutputGroup7]
+Name=Other Outputs
+Description=
+TargetPrinter=FX Docuprint M158 f-00000
+PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintWhat=1
+OutputType1=Text Print
+OutputName1=Text Print
+OutputDocumentPath1=
+OutputVariantName1=
+OutputDefault1=0
+PageOptions1=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType2=Text Print
+OutputName2=Text Print
+OutputDocumentPath2=
+OutputVariantName2=
+OutputDefault2=0
+PageOptions2=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType3=Text Print
+OutputName3=Text Print
+OutputDocumentPath3=
+OutputVariantName3=
+OutputDefault3=0
+PageOptions3=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType4=Text Print
+OutputName4=Text Print
+OutputDocumentPath4=
+OutputVariantName4=
+OutputDefault4=0
+PageOptions4=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType5=Text Print
+OutputName5=Text Print
+OutputDocumentPath5=
+OutputVariantName5=
+OutputDefault5=0
+PageOptions5=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType6=Text Print
+OutputName6=Text Print
+OutputDocumentPath6=
+OutputVariantName6=
+OutputDefault6=0
+PageOptions6=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType7=Text Print
+OutputName7=Text Print
+OutputDocumentPath7=
+OutputVariantName7=
+OutputDefault7=0
+PageOptions7=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType8=Text Print
+OutputName8=Text Print
+OutputDocumentPath8=
+OutputVariantName8=
+OutputDefault8=0
+PageOptions8=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType9=Text Print
+OutputName9=Text Print
+OutputDocumentPath9=
+OutputVariantName9=
+OutputDefault9=0
+PageOptions9=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType10=Text Print
+OutputName10=Text Print
+OutputDocumentPath10=
+OutputVariantName10=
+OutputDefault10=0
+PageOptions10=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType11=Text Print
+OutputName11=Text Print
+OutputDocumentPath11=
+OutputVariantName11=
+OutputDefault11=0
+PageOptions11=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType12=Text Print
+OutputName12=Text Print
+OutputDocumentPath12=
+OutputVariantName12=
+OutputDefault12=0
+PageOptions12=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType13=Text Print
+OutputName13=Text Print
+OutputDocumentPath13=
+OutputVariantName13=
+OutputDefault13=0
+PageOptions13=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType14=Text Print
+OutputName14=Text Print
+OutputDocumentPath14=
+OutputVariantName14=
+OutputDefault14=0
+PageOptions14=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType15=Text Print
+OutputName15=Text Print
+OutputDocumentPath15=
+OutputVariantName15=
+OutputDefault15=0
+PageOptions15=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType16=Text Print
+OutputName16=Text Print
+OutputDocumentPath16=
+OutputVariantName16=
+OutputDefault16=0
+PageOptions16=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType17=Text Print
+OutputName17=Text Print
+OutputDocumentPath17=
+OutputVariantName17=
+OutputDefault17=0
+PageOptions17=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType18=Text Print
+OutputName18=Text Print
+OutputDocumentPath18=
+OutputVariantName18=
+OutputDefault18=0
+PageOptions18=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType19=Text Print
+OutputName19=Text Print
+OutputDocumentPath19=
+OutputVariantName19=
+OutputDefault19=0
+PageOptions19=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType20=Text Print
+OutputName20=Text Print
+OutputDocumentPath20=
+OutputVariantName20=
+OutputDefault20=0
+PageOptions20=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType21=Text Print
+OutputName21=Text Print
+OutputDocumentPath21=
+OutputVariantName21=
+OutputDefault21=0
+PageOptions21=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType22=Text Print
+OutputName22=Text Print
+OutputDocumentPath22=
+OutputVariantName22=
+OutputDefault22=0
+PageOptions22=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType23=Text Print
+OutputName23=Text Print
+OutputDocumentPath23=
+OutputVariantName23=
+OutputDefault23=0
+PageOptions23=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType24=Text Print
+OutputName24=Text Print
+OutputDocumentPath24=
+OutputVariantName24=
+OutputDefault24=0
+PageOptions24=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType25=Text Print
+OutputName25=Text Print
+OutputDocumentPath25=
+OutputVariantName25=
+OutputDefault25=0
+PageOptions25=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType26=Text Print
+OutputName26=Text Print
+OutputDocumentPath26=
+OutputVariantName26=
+OutputDefault26=0
+PageOptions26=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType27=Text Print
+OutputName27=Text Print
+OutputDocumentPath27=
+OutputVariantName27=
+OutputDefault27=0
+PageOptions27=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType28=Text Print
+OutputName28=Text Print
+OutputDocumentPath28=
+OutputVariantName28=
+OutputDefault28=0
+PageOptions28=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+
+[Modification Levels]
+Type1=1
+Type2=1
+Type3=1
+Type4=1
+Type5=1
+Type6=1
+Type7=1
+Type8=1
+Type9=1
+Type10=1
+Type11=1
+Type12=1
+Type13=1
+Type14=1
+Type15=1
+Type16=1
+Type17=1
+Type18=1
+Type19=1
+Type20=1
+Type21=1
+Type22=1
+Type23=1
+Type24=1
+Type25=1
+Type26=1
+Type27=1
+Type28=1
+Type29=1
+Type30=1
+Type31=1
+Type32=1
+Type33=1
+Type34=1
+Type35=1
+Type36=1
+Type37=1
+Type38=1
+Type39=1
+Type40=1
+Type41=1
+Type42=1
+Type43=1
+Type44=1
+Type45=1
+Type46=1
+Type47=1
+Type48=1
+Type49=1
+Type50=1
+Type51=1
+Type52=1
+Type53=1
+Type54=1
+Type55=1
+Type56=1
+Type57=1
+Type58=1
+Type59=1
+Type60=1
+Type61=1
+Type62=1
+Type63=1
+Type64=1
+Type65=1
+Type66=1
+Type67=1
+Type68=1
+
+[Difference Levels]
+Type1=1
+Type2=1
+Type3=1
+Type4=1
+Type5=1
+Type6=1
+Type7=1
+Type8=1
+Type9=1
+Type10=1
+Type11=1
+Type12=1
+Type13=1
+Type14=1
+Type15=1
+Type16=1
+Type17=1
+Type18=1
+Type19=1
+Type20=1
+Type21=1
+Type22=1
+Type23=1
+Type24=1
+Type25=1
+Type26=1
+Type27=1
+Type28=1
+Type29=1
+Type30=1
+Type31=1
+Type32=1
+Type33=1
+Type34=1
+Type35=1
+Type36=1
+
+[Electrical Rules Check]
+Type1=1
+Type2=1
+Type3=2
+Type4=1
+Type5=2
+Type6=2
+Type7=1
+Type8=1
+Type9=1
+Type10=1
+Type11=2
+Type12=2
+Type13=2
+Type14=1
+Type15=1
+Type16=1
+Type17=1
+Type18=1
+Type19=1
+Type20=1
+Type21=1
+Type22=1
+Type23=1
+Type24=1
+Type25=2
+Type26=2
+Type27=2
+Type28=1
+Type29=1
+Type30=1
+Type31=1
+Type32=2
+Type33=2
+Type34=2
+Type35=1
+Type36=2
+Type37=1
+Type38=2
+Type39=2
+Type40=2
+Type41=0
+Type42=2
+Type43=1
+Type44=1
+Type45=2
+Type46=1
+Type47=2
+Type48=2
+Type49=1
+Type50=2
+Type51=1
+Type52=1
+Type53=1
+Type54=1
+Type55=1
+Type56=2
+Type57=1
+Type58=1
+Type59=0
+Type60=1
+Type61=2
+Type62=2
+Type63=1
+Type64=0
+Type65=2
+Type66=3
+Type67=2
+Type68=2
+Type69=1
+Type70=2
+Type71=2
+Type72=2
+Type73=2
+Type74=1
+Type75=2
+Type76=1
+Type77=1
+Type78=1
+Type79=1
+Type80=2
+Type81=3
+Type82=3
+Type83=3
+Type84=3
+Type85=3
+Type86=2
+Type87=2
+Type88=2
+Type89=1
+Type90=1
+Type91=3
+Type92=3
+Type93=2
+Type94=2
+Type95=2
+Type96=2
+Type97=2
+Type98=0
+
+[ERC Connection Matrix]
+L1=NNNNNNNNNNNWNNNWW
+L2=NNWNNNNWWWNWNWNWN
+L3=NWEENEEEENEWNEEWN
+L4=NNENNNWEENNWNENWN
+L5=NNNNNNNNNNNNNNNNN
+L6=NNENNNNEENNWNENWN
+L7=NNEWNNWEENNWNENWN
+L8=NWEENEENEEENNEENN
+L9=NWEENEEEENEWNEEWW
+L10=NWNNNNNENNEWNNEWN
+L11=NNENNNNEEENWNENWN
+L12=WWWWNWWNWWWNWWWNN
+L13=NNNNNNNNNNNWNNNWW
+L14=NWEENEEEENEWNEEWW
+L15=NNENNNNEEENWNENWW
+L16=WWWWNWWNWWWNWWWNW
+L17=WNNNNNNNWNNNWWWWN
+
+[Annotate]
+SortOrder=3
+MatchParameter1=Comment
+MatchStrictly1=1
+MatchParameter2=Library Reference
+MatchStrictly2=1
+PhysicalNamingFormat=$Component_$RoomName
+GlobalIndexSortOrder=3
+
+[PrjClassGen]
+CompClassManualEnabled=0
+CompClassManualRoomEnabled=0
+NetClassAutoBusEnabled=1
+NetClassAutoCompEnabled=0
+NetClassAutoNamedHarnessEnabled=0
+NetClassManualEnabled=1
+
+[LibraryUpdateOptions]
+SelectedOnly=0
+PartTypes=0
+ComponentLibIdentifierKind0=Library Name And Type
+ComponentLibraryIdentifier0=CopterControl.SchLib
+ComponentDesignItemID0=CC-STM32F103CBT6
+ComponentSymbolReference0=CC-STM32F103CBT6
+ComponentUpdate0=1
+ComponentIsDeviceSheet0=0
+FullReplace=1
+UpdateDesignatorLock=1
+UpdatePartIDLock=1
+DoGraphics=1
+DoParameters=1
+DoModels=1
+AddParameters=0
+RemoveParameters=0
+AddModels=1
+RemoveModels=1
+UpdateCurrentModels=1
+ParameterName0=Comment
+ParameterUpdate0=1
+ParameterName1=Component Kind
+ParameterUpdate1=1
+ParameterName2=ComponentLink1Description
+ParameterUpdate2=1
+ParameterName3=ComponentLink1URL
+ParameterUpdate3=1
+ParameterName4=ComponentLink2Description
+ParameterUpdate4=1
+ParameterName5=ComponentLink2URL
+ParameterUpdate5=1
+ParameterName6=DatasheetVersion
+ParameterUpdate6=1
+ParameterName7=Description
+ParameterUpdate7=1
+ParameterName8=Library Reference
+ParameterUpdate8=1
+ParameterName9=PackageDescription
+ParameterUpdate9=1
+ParameterName10=PackageReference
+ParameterUpdate10=1
+ParameterName11=PackageVersion
+ParameterUpdate11=1
+ParameterName12=Published
+ParameterUpdate12=1
+ParameterName13=Publisher
+ParameterUpdate13=1
+ParameterName14=Supplier 1
+ParameterUpdate14=1
+ParameterName15=Supplier Part Number 1
+ParameterUpdate15=1
+ModelTypeGroup0=PCBLIB
+ModelTypeUpdate0=1
+ModelType0=PCBLIB
+ModelName0=LQFP48_L
+ModelUpdate0=1
+ModelType1=PCBLIB
+ModelName1=LQFP48_M
+ModelUpdate1=1
+ModelType2=PCBLIB
+ModelName2=LQFP48_N
+ModelUpdate2=1
+
+[DatabaseUpdateOptions]
+SelectedOnly=0
+PartTypes=0
+
+[Comparison Options]
+ComparisonOptions0=Kind=Net|MinPercent=75|MinMatch=3|ShowMatch=-1|Confirm=-1|UseName=-1|InclAllRules=0
+ComparisonOptions1=Kind=Net Class|MinPercent=75|MinMatch=3|ShowMatch=-1|Confirm=-1|UseName=-1|InclAllRules=0
+ComparisonOptions2=Kind=Component Class|MinPercent=75|MinMatch=3|ShowMatch=-1|Confirm=-1|UseName=-1|InclAllRules=0
+ComparisonOptions3=Kind=Rule|MinPercent=75|MinMatch=3|ShowMatch=-1|Confirm=-1|UseName=-1|InclAllRules=0
+ComparisonOptions4=Kind=Differential Pair|MinPercent=50|MinMatch=1|ShowMatch=0|Confirm=0|UseName=0|InclAllRules=0
+
+[SmartPDF]
+PageOptions=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+Configuration_Name1=OutputConfigurationParameter1
+Configuration_Item1=PrintArea=DesignExtent|PrintAreaLowerLeftCornerX=0|PrintAreaLowerLeftCornerY=0|PrintAreaUpperRightCornerX=0|PrintAreaUpperRightCornerY=0|Record=PcbPrintView
+Configuration_Name2=OutputConfigurationParameter2
+Configuration_Item2=IncludeBottomLayerComponents=False|IncludeMultiLayerComponents=False|IncludeTopLayerComponents=False|Index=0|Mirror=False|Name=Panel Details|PadNumberFontSize=14|Record=PcbPrintOut|ShowHoles=False|ShowPadNets=False|ShowPadNumbers=False|SubstituteFonts=False
+Configuration_Name3=OutputConfigurationParameter3
+Configuration_Item3=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical16|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration_Name4=OutputConfigurationParameter4
+Configuration_Item4=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical1|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration_Name5=OutputConfigurationParameter5
+Configuration_Item5=IncludeBottomLayerComponents=False|IncludeMultiLayerComponents=False|IncludeTopLayerComponents=False|Index=1|Mirror=False|Name=Top SilkScreen|PadNumberFontSize=14|Record=PcbPrintOut|ShowHoles=False|ShowPadNets=False|ShowPadNumbers=False|SubstituteFonts=False
+Configuration_Name6=OutputConfigurationParameter6
+Configuration_Item6=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=TopOverlay|Polygon=Full|PrintOutIndex=1|Record=PcbPrintLayer
+Configuration_Name7=OutputConfigurationParameter7
+Configuration_Item7=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical16|Polygon=Full|PrintOutIndex=1|Record=PcbPrintLayer
+Configuration_Name8=OutputConfigurationParameter8
+Configuration_Item8=IncludeBottomLayerComponents=False|IncludeMultiLayerComponents=False|IncludeTopLayerComponents=False|Index=2|Mirror=False|Name=Top Copper|PadNumberFontSize=14|Record=PcbPrintOut|ShowHoles=False|ShowPadNets=False|ShowPadNumbers=False|SubstituteFonts=False
+Configuration_Name9=OutputConfigurationParameter9
+Configuration_Item9=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=TopLayer|Polygon=Full|PrintOutIndex=2|Record=PcbPrintLayer
+Configuration_Name10=OutputConfigurationParameter10
+Configuration_Item10=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical16|Polygon=Full|PrintOutIndex=2|Record=PcbPrintLayer
+Configuration_Name11=OutputConfigurationParameter11
+Configuration_Item11=IncludeBottomLayerComponents=False|IncludeMultiLayerComponents=False|IncludeTopLayerComponents=False|Index=3|Mirror=False|Name=Groud Copper|PadNumberFontSize=14|Record=PcbPrintOut|ShowHoles=False|ShowPadNets=False|ShowPadNumbers=False|SubstituteFonts=False
+Configuration_Name12=OutputConfigurationParameter12
+Configuration_Item12=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=MidLayer1|Polygon=Full|PrintOutIndex=3|Record=PcbPrintLayer
+Configuration_Name13=OutputConfigurationParameter13
+Configuration_Item13=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical16|Polygon=Full|PrintOutIndex=3|Record=PcbPrintLayer
+Configuration_Name14=OutputConfigurationParameter14
+Configuration_Item14=IncludeBottomLayerComponents=False|IncludeMultiLayerComponents=False|IncludeTopLayerComponents=False|Index=4|Mirror=False|Name=Power Layer|PadNumberFontSize=14|Record=PcbPrintOut|ShowHoles=False|ShowPadNets=False|ShowPadNumbers=False|SubstituteFonts=False
+Configuration_Name15=OutputConfigurationParameter15
+Configuration_Item15=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=MidLayer2|Polygon=Full|PrintOutIndex=4|Record=PcbPrintLayer
+Configuration_Name16=OutputConfigurationParameter16
+Configuration_Item16=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical16|Polygon=Full|PrintOutIndex=4|Record=PcbPrintLayer
+Configuration_Name17=OutputConfigurationParameter17
+Configuration_Item17=IncludeBottomLayerComponents=False|IncludeMultiLayerComponents=False|IncludeTopLayerComponents=False|Index=5|Mirror=False|Name=Bottom Copper|PadNumberFontSize=14|Record=PcbPrintOut|ShowHoles=False|ShowPadNets=False|ShowPadNumbers=False|SubstituteFonts=False
+Configuration_Name18=OutputConfigurationParameter18
+Configuration_Item18=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=BottomLayer|Polygon=Full|PrintOutIndex=5|Record=PcbPrintLayer
+Configuration_Name19=OutputConfigurationParameter19
+Configuration_Item19=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical16|Polygon=Full|PrintOutIndex=5|Record=PcbPrintLayer
+Configuration_Name20=OutputConfigurationParameter20
+Configuration_Item20=IncludeBottomLayerComponents=False|IncludeMultiLayerComponents=False|IncludeTopLayerComponents=False|Index=6|Mirror=False|Name=Bottom Silk Screen|PadNumberFontSize=14|Record=PcbPrintOut|ShowHoles=False|ShowPadNets=False|ShowPadNumbers=False|SubstituteFonts=False
+Configuration_Name21=OutputConfigurationParameter21
+Configuration_Item21=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=BottomOverlay|Polygon=Full|PrintOutIndex=6|Record=PcbPrintLayer
+Configuration_Name22=OutputConfigurationParameter22
+Configuration_Item22=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical16|Polygon=Full|PrintOutIndex=6|Record=PcbPrintLayer
+

hardware/Derivative/Spedix_CC3D_V2/README.txt

@@ -0,0 +1,55 @@
+** Introduction **
+
+These are all the hardware files for the OpenPilot CopterControl 3D, as re-manufactured by Spedix. The files
+represent complete schematic designs, and includes all Altium version 9 files. The work is based on the orignal
+CC3D design files located at: https://reviews.openpilot.org/browse/OpenPilot/hardware/Production/CopterControl%203D
+
+** License **
+
+These files are licensed under Creative Commons BY-SA 3.0 license. This license also that credit is given, in 
+this case the OpenPilot logo should be retained at the same size as on the included files on any board produced 
+or hardware derived from this design (which is a derivative of the original work). 
+
+For more details, please see: http://creativecommons.org/licenses/by-sa/3.0/au/deed.en
+
+OpenPilot is a non-commercial project and releasing the original files to share with the wider community, 
+please respect this and play fair. If there are any questions or items that need clarifying please contact
+one of the OpenPilot forum administrators. 
+
+Spedix has mofified the original design to include new connectors on the board for both Spectrum and S.Bus RX
+packages. This board can easily be identified by the added connectors as well as the Gold ENIG Openpilot logo.
+
+This board was orignally shipped alongside the Spedix S250 ARF & BNF kits as sold by BuddyRC. 
+
+http://www.rcgroups.com/forums/showthread.php?t=2341341
+http://www.spedix-rc.com/index.php/multirotor/250-series.html
+http://www.buddyrc.com/spedix-s250-arf-kit-cc3d-version.html
+http://www.buddyrc.com/spedix-s250-bnf-cc3d-version.html
+
+Additionally the board was sold standalone via BuddyRC. Other vendors may be reselling this board, however there
+is not a known list of potential resellers at this time. 
+
+http://www.buddyrc.com/cc3d-flight-control-board.html
+
+Please note that the Gyro has been rotated on the board to make access to the USB port easier for end users with 
+Mini frames. Pay attention to the arrow when mounting the board. This change eliminates the need for virtual 
+rotation of the board within the software. 
+
+Also note that the first batches of this board shipped with an invalid bootloader. The verison number shows up 
+as "-128". This bootloader seems to have timing issues which prevent it from being used with newer variants of 
+the OpenPilot GCS. You will have to manually update the bootloader per the following instructions:
+
+https://wiki.openpilot.org/display/WIKI/Bootloader+Update
+
+** Caveats ** 
+
+It has been pointed out by Failsafe(Jim) that the board appears to lack ESD protections.
+
+** Credits **
+
+David Ankers: concept, design and board creation. 
+James Cotton: Firmware development, 3C algorythm, testing and advice. 
+Cathy Moss: Design review, for being generally awesome and having patience for David's questions. 
+Kevin Finisterre: Facilitating the exchange of CCBYSA materials from Spedix via BuddyRC, & creating the README.
+Dale Deng: Owner of BuddyRC, personally donating for all imported Spedix boards. Helping to obtain Spedix donations.
+Spedix: Modification of original design to incorperate S.Bus & Spectrum adaptor as well as rotation of Gyro. 

hardware/Production/OpenPilot Revolution/Assembly.OutJob

@@ -0,0 +1,170 @@
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+

hardware/Production/OpenPilot Revolution/License.txt

@@ -0,0 +1,7 @@
+Revo hardware files are released under CC-BY-NC-SA
+
+The Revo files are under a Non-Commercial license, this means you can not make clones or derviatives and sell them.
+
+Please, do the right thing with this, we put a lot of work and effort in to this project, respect how we share our work. 
+
+

hardware/Production/OpenPilot Revolution/Revolution.PrjPCB

@@ -0,0 +1,1248 @@
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+[GeneratedDocument12]
+DocumentPath=Project Outputs for Revolution\Revolution.GM1
+DItemRevisionGUID=
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+[GeneratedDocument13]
+DocumentPath=Project Outputs for Revolution\Revolution.GPB
+DItemRevisionGUID=
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+[GeneratedDocument14]
+DocumentPath=Project Outputs for Revolution\Revolution.GPT
+DItemRevisionGUID=
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+[GeneratedDocument15]
+DocumentPath=Project Outputs for Revolution\Revolution.GTL
+DItemRevisionGUID=
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+[GeneratedDocument16]
+DocumentPath=Project Outputs for Revolution\Revolution.GTO
+DItemRevisionGUID=
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+[GeneratedDocument17]
+DocumentPath=Project Outputs for Revolution\Revolution.GTP
+DItemRevisionGUID=
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+DocumentPath=Project Outputs for Revolution\Revolution.GTS
+DItemRevisionGUID=
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+[GeneratedDocument19]
+DocumentPath=Project Outputs for Revolution\Revolution.LDP
+DItemRevisionGUID=
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+[GeneratedDocument20]
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+[GeneratedDocument21]
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+[GeneratedDocument22]
+DocumentPath=Project Outputs for Revolution\Revolution.TXT
+DItemRevisionGUID=
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+[SearchPath1]
+Path=..\..\..\..\Program Files (x86)\Altium Designer Summer 09\Library\*.*
+IncludeSubFolders=1
+
+[Configuration1]
+Name=Default Configuration
+ParameterCount=0
+ConstraintFileCount=0
+ReleaseItemId=
+CurrentRevision=
+Variant=[No Variations]
+GenerateBOM=0
+OutputJobsCount=0
+
+[Generic_SmartPDF]
+AutoOpenFile=-1
+AutoOpenOutJob=-1
+
+[Generic_SmartPDFSettings]
+ProjectMode=0
+ZoomPrecision=50
+AddNetsInformation=-1
+AddNetPins=-1
+AddNetNetLabels=-1
+AddNetPorts=-1
+ExportBOM=0
+TemplateFilename=BOM Default Template 95.xlt
+TemplateStoreRelative=-1
+PCB_PrintColor=0
+SCH_PrintColor=0
+SCH_ShowNoErc=0
+SCH_ShowParameter=0
+SCH_ShowProbes=0
+SCH_ShowBlankets=0
+OutputFileName=CopterControl.SchDoc=C:\Users\David\Documents\SVN\WIP\trunk\hardware\production\CopterControl\CopterControl Schematic.pdf
+SCH_ExpandLogicalToPhysical=0
+SCH_VariantName=[No Variations]
+SCH_ExpandComponentDesignators=-1
+SCH_ExpandNetlabels=0
+SCH_ExpandPorts=0
+SCH_ExpandSheetNumber=0
+SCH_ExpandDocumentNumber=0
+SCH_HasExpandLogicalToPhysicalSheets=-1
+SaveSettingsToOutJob=0
+SCH_NoERCSymbolsToShow="Thin Cross","Thick Cross","Small Cross",Checkbox,Triangle
+SCH_ShowNote=-1
+SCH_ShowNoteCollapsed=-1
+
+[Generic_EDE]
+OutputDir=
+
+[OutputGroup1]
+Name=Netlist Outputs
+Description=
+TargetPrinter=Brother HL-2170W series Printer
+PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintJobKind=1|PrintWhat=1
+OutputType1=Verilog
+OutputName1=Verilog File
+OutputDocumentPath1=
+OutputVariantName1=
+OutputDefault1=0
+OutputType2=VHDL
+OutputName2=VHDL File
+OutputDocumentPath2=
+OutputVariantName2=
+OutputDefault2=0
+OutputType3=PCADNetlist
+OutputName3=PCAD Netlist
+OutputDocumentPath3=
+OutputVariantName3=
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+OutputName4=SIMetrix
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+OutputDocumentPath5=
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+OutputType6=XSpiceNetlist
+OutputName6=XSpice Netlist
+OutputDocumentPath6=
+OutputVariantName6=
+OutputDefault6=0
+
+[OutputGroup2]
+Name=Simulator Outputs
+Description=
+TargetPrinter=Microsoft XPS Document Writer
+PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintJobKind=1|PrintWhat=1
+OutputType1=AdvSimNetlist
+OutputName1=Mixed Sim
+OutputDocumentPath1=
+OutputVariantName1=
+OutputDefault1=0
+OutputType2=SIMetrixSimulation
+OutputName2=SIMetrix
+OutputDocumentPath2=
+OutputVariantName2=
+OutputDefault2=0
+OutputType3=SIMPLISSimulation
+OutputName3=SIMPLIS
+OutputDocumentPath3=
+OutputVariantName3=
+OutputDefault3=0
+
+[OutputGroup3]
+Name=Documentation Outputs
+Description=
+TargetPrinter=Virtual Printer
+PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintJobKind=1|PrintWhat=1
+OutputType1=Composite
+OutputName1=Composite Drawing
+OutputDocumentPath1=C:\Users\David\Documents\SVN\OP-WIP\trunk\hardware\production\CopterControl\CopterControl.PcbDoc
+OutputVariantName1=
+OutputDefault1=0
+PageOptions1=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PrintScaleMode=0|PaperKind=A4
+Configuration1_Name1=OutputConfigurationParameter1
+Configuration1_Item1=PrintArea=DesignExtent|PrintAreaLowerLeftCornerX=0|PrintAreaLowerLeftCornerY=0|PrintAreaUpperRightCornerX=0|PrintAreaUpperRightCornerY=0|Record=PcbPrintView
+Configuration1_Name2=OutputConfigurationParameter2
+Configuration1_Item2=IncludeBottomLayerComponents=True|IncludeMultiLayerComponents=True|IncludeTopLayerComponents=True|Index=0|Mirror=False|Name=Multilayer Composite Print|PadNumberFontSize=14|Record=PcbPrintOut|ShowHoles=False|ShowPadNets=False|ShowPadNumbers=False|SubstituteFonts=False
+Configuration1_Name3=OutputConfigurationParameter3
+Configuration1_Item3=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=TopOverlay|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration1_Name4=OutputConfigurationParameter4
+Configuration1_Item4=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=BottomOverlay|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration1_Name5=OutputConfigurationParameter5
+Configuration1_Item5=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=TopLayer|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration1_Name6=OutputConfigurationParameter6
+Configuration1_Item6=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=MidLayer1|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration1_Name7=OutputConfigurationParameter7
+Configuration1_Item7=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=BottomLayer|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration1_Name8=OutputConfigurationParameter8
+Configuration1_Item8=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical1|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration1_Name9=OutputConfigurationParameter9
+Configuration1_Item9=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical5|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration1_Name10=OutputConfigurationParameter10
+Configuration1_Item10=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical6|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration1_Name11=OutputConfigurationParameter11
+Configuration1_Item11=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical7|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration1_Name12=OutputConfigurationParameter12
+Configuration1_Item12=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical13|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration1_Name13=OutputConfigurationParameter13
+Configuration1_Item13=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical15|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration1_Name14=OutputConfigurationParameter14
+Configuration1_Item14=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=MultiLayer|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+OutputType2=OpenBus Print
+OutputName2=OpenBus Prints
+OutputDocumentPath2=
+OutputVariantName2=
+OutputDefault2=0
+PageOptions2=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4
+OutputType3=PCB 3D Print
+OutputName3=PCB 3D Prints
+OutputDocumentPath3=
+OutputVariantName3=[No Variations]
+OutputDefault3=0
+PageOptions3=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4
+OutputType4=PCB Print
+OutputName4=PCB Prints
+OutputDocumentPath4=
+OutputVariantName4=
+OutputDefault4=0
+PageOptions4=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4
+OutputType5=Schematic Print
+OutputName5=Schematic Prints
+OutputDocumentPath5=
+OutputVariantName5=
+OutputDefault5=0
+PageOptions5=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4
+OutputType6=SimView Print
+OutputName6=SimView Prints
+OutputDocumentPath6=
+OutputVariantName6=
+OutputDefault6=0
+PageOptions6=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4
+OutputType7=Wave Print
+OutputName7=Wave Prints
+OutputDocumentPath7=
+OutputVariantName7=
+OutputDefault7=0
+PageOptions7=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4
+OutputType8=WaveSim Print
+OutputName8=WaveSim Prints
+OutputDocumentPath8=
+OutputVariantName8=
+OutputDefault8=0
+PageOptions8=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4
+OutputType9=PCB 3D Video
+OutputName9=PCB 3D Video
+OutputDocumentPath9=
+OutputVariantName9=[No Variations]
+OutputDefault9=0
+PageOptions9=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4
+OutputType10=Report Print
+OutputName10=Report Prints
+OutputDocumentPath10=
+OutputVariantName10=
+OutputDefault10=0
+PageOptions10=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4
+OutputType11=VHDL Print
+OutputName11=VHDL Prints
+OutputDocumentPath11=
+OutputVariantName11=
+OutputDefault11=0
+PageOptions11=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4
+OutputType12=PCBLIB Print
+OutputName12=PCBLIB Prints
+OutputDocumentPath12=
+OutputVariantName12=
+OutputDefault12=0
+PageOptions12=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4
+OutputType13=Assembler Source Print
+OutputName13=Assembler Source Prints
+OutputDocumentPath13=
+OutputVariantName13=
+OutputDefault13=0
+PageOptions13=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4|PaperIndex=9
+OutputType14=C Source Print
+OutputName14=C Source Prints
+OutputDocumentPath14=
+OutputVariantName14=
+OutputDefault14=0
+PageOptions14=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4|PaperIndex=9
+OutputType15=C/C++ Header Print
+OutputName15=C/C++ Header Prints
+OutputDocumentPath15=
+OutputVariantName15=
+OutputDefault15=0
+PageOptions15=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4|PaperIndex=9
+OutputType16=C++ Source Print
+OutputName16=C++ Source Prints
+OutputDocumentPath16=
+OutputVariantName16=
+OutputDefault16=0
+PageOptions16=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4|PaperIndex=9
+OutputType17=FSM Print
+OutputName17=FSM Prints
+OutputDocumentPath17=
+OutputVariantName17=
+OutputDefault17=0
+PageOptions17=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4|PaperIndex=9
+
+[OutputGroup4]
+Name=Assembly Outputs
+Description=
+TargetPrinter=Brother HL-2170W series Printer
+PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintJobKind=1|PrintWhat=1
+OutputType1=Assembly
+OutputName1=Assembly Drawings
+OutputDocumentPath1=
+OutputVariantName1=[No Variations]
+OutputDefault1=0
+PageOptions1=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4
+OutputType2=Pick Place
+OutputName2=Generates pick and place files
+OutputDocumentPath2=
+OutputVariantName2=[No Variations]
+OutputDefault2=0
+OutputType3=Test Points For Assembly
+OutputName3=Test Point Report
+OutputDocumentPath3=
+OutputVariantName3=[No Variations]
+OutputDefault3=0
+
+[OutputGroup5]
+Name=Fabrication Outputs
+Description=
+TargetPrinter=Microsoft XPS Document Writer
+PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintJobKind=1|PrintWhat=1
+OutputType1=Plane
+OutputName1=Power-Plane Prints
+OutputDocumentPath1=
+OutputVariantName1=
+OutputDefault1=0
+PageOptions1=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4
+OutputType2=Mask
+OutputName2=Solder/Paste Mask Prints
+OutputDocumentPath2=
+OutputVariantName2=
+OutputDefault2=0
+PageOptions2=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4
+OutputType3=NC Drill
+OutputName3=NC Drill Files
+OutputDocumentPath3=
+OutputVariantName3=
+OutputDefault3=0
+Configuration3_Name1=OutputConfigurationParameter1
+Configuration3_Item1=BoardEdgeRoutToolDia=2000000|GenerateBoardEdgeRout=False|GenerateDrilledSlotsG85=False|GenerateEIADrillFile=False|GenerateSeparatePlatedNonPlatedFiles=False|NumberOfDecimals=5|NumberOfUnits=2|OptimizeChangeLocationCommands=True|OriginPosition=Relative|Record=DrillView|Units=Imperial|ZeroesMode=SuppressTrailingZeroes
+OutputType4=Drill
+OutputName4=Drill Drawing/Guides
+OutputDocumentPath4=
+OutputVariantName4=
+OutputDefault4=0
+PageOptions4=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=4.20|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4
+Configuration4_Name1=OutputConfigurationParameter1
+Configuration4_Item1=PrintArea=DesignExtent|PrintAreaLowerLeftCornerX=0|PrintAreaLowerLeftCornerY=0|PrintAreaUpperRightCornerX=0|PrintAreaUpperRightCornerY=0|Record=PcbPrintView
+Configuration4_Name2=OutputConfigurationParameter2
+Configuration4_Item2=IncludeBottomLayerComponents=True|IncludeMultiLayerComponents=True|IncludeTopLayerComponents=True|Index=0|Mirror=False|Name=Drill Drawing For (Bottom Layer,Top Layer)|PadNumberFontSize=14|Record=PcbPrintOut|ShowHoles=False|ShowPadNets=False|ShowPadNumbers=False|SubstituteFonts=False
+Configuration4_Name3=OutputConfigurationParameter3
+Configuration4_Item3=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=BottomLayer|DLayer2=TopLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=DrillDrawing|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration4_Name4=OutputConfigurationParameter4
+Configuration4_Item4=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical1|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration4_Name5=OutputConfigurationParameter5
+Configuration4_Item5=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical5|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration4_Name6=OutputConfigurationParameter6
+Configuration4_Item6=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical6|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration4_Name7=OutputConfigurationParameter7
+Configuration4_Item7=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical7|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration4_Name8=OutputConfigurationParameter8
+Configuration4_Item8=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical13|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration4_Name9=OutputConfigurationParameter9
+Configuration4_Item9=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical15|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration4_Name10=OutputConfigurationParameter10
+Configuration4_Item10=IncludeBottomLayerComponents=True|IncludeMultiLayerComponents=True|IncludeTopLayerComponents=True|Index=1|Mirror=False|Name=Drill Guide For (Bottom Layer,Top Layer)|PadNumberFontSize=14|Record=PcbPrintOut|ShowHoles=False|ShowPadNets=False|ShowPadNumbers=False|SubstituteFonts=False
+Configuration4_Name11=OutputConfigurationParameter11
+Configuration4_Item11=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=BottomLayer|DLayer2=TopLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=DrillGuide|Polygon=Full|PrintOutIndex=1|Record=PcbPrintLayer
+Configuration4_Name12=OutputConfigurationParameter12
+Configuration4_Item12=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical1|Polygon=Full|PrintOutIndex=1|Record=PcbPrintLayer
+Configuration4_Name13=OutputConfigurationParameter13
+Configuration4_Item13=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical5|Polygon=Full|PrintOutIndex=1|Record=PcbPrintLayer
+Configuration4_Name14=OutputConfigurationParameter14
+Configuration4_Item14=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical6|Polygon=Full|PrintOutIndex=1|Record=PcbPrintLayer
+Configuration4_Name15=OutputConfigurationParameter15
+Configuration4_Item15=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical7|Polygon=Full|PrintOutIndex=1|Record=PcbPrintLayer
+Configuration4_Name16=OutputConfigurationParameter16
+Configuration4_Item16=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical13|Polygon=Full|PrintOutIndex=1|Record=PcbPrintLayer
+Configuration4_Name17=OutputConfigurationParameter17
+Configuration4_Item17=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical15|Polygon=Full|PrintOutIndex=1|Record=PcbPrintLayer
+OutputType5=CompositeDrill
+OutputName5=Composite Drill Drawing
+OutputDocumentPath5=
+OutputVariantName5=
+OutputDefault5=0
+PageOptions5=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4
+OutputType6=Final
+OutputName6=Final Artwork Prints
+OutputDocumentPath6=
+OutputVariantName6=[No Variations]
+OutputDefault6=0
+PageOptions6=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4
+OutputType7=Board Stack Report
+OutputName7=Report Board Stack
+OutputDocumentPath7=
+OutputVariantName7=
+OutputDefault7=0
+PageOptions7=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4|PaperIndex=9
+OutputType8=Gerber X2
+OutputName8=Gerber X2 Files
+OutputDocumentPath8=
+OutputVariantName8=
+OutputDefault8=0
+OutputType9=IPC2581
+OutputName9=IPC-2581 Files
+OutputDocumentPath9=
+OutputVariantName9=
+OutputDefault9=0
+OutputType10=ODB
+OutputName10=ODB++ Files
+OutputDocumentPath10=
+OutputVariantName10=[No Variations]
+OutputDefault10=0
+OutputType11=Test Points
+OutputName11=Test Point Report
+OutputDocumentPath11=
+OutputVariantName11=
+OutputDefault11=0
+OutputType12=Gerber
+OutputName12=Gerber Files
+OutputDocumentPath12=
+OutputVariantName12=[No Variations]
+OutputDefault12=0
+Configuration12_Name1=OutputConfigurationParameter1
+Configuration12_Item1=AddToAllLayerClasses.Set= |AddToAllPlots.Set=SerializeLayerHash.Version~2,ClassName~TLayerToBoolean|CentrePlots=False|DrillDrawingSymbol=GraphicsSymbol|DrillDrawingSymbolSize=500000|EmbeddedApertures=True|FileComment= |FileComment= |FileSubject=Autodetect|FileSubject=Autodetect|FilmBorderSize=10000000|FilmXSize=200000000|FilmYSize=160000000|FlashAllFills=False|FlashPadShapes=True|G54OnApertureChange=False|GenerateDRCRulesFile=True|GenerateDRCRulesFile=True|GenerateReliefShapes=True|GerberUnit=Imperial|GerberUnit=Imperial|GerberX2Support=False|IncludeUnconnectedMidLayerPads=False|LayerClassesMirror.Set= |LayerClassesPlot.Set= |LeadingAndTrailingZeroesMode=SuppressLeadingZeroes|MaxApertureSize=2500000|MinusApertureTolerance=50|MinusApertureTolerance=50|Mirror.Set=SerializeLayerHash.Version~2,ClassName~TLayerToBoolean|MirrorDrillDrawingPlots=False|MirrorDrillGuidePlots=False|MirrorX2.Set= |MirrorX2GerberClass=False|NewFileNamesFormat=False|NoRegularPolygons=False|NumberOfDecimals=5|NumberOfDecimals=5|OptimizeChangeLocationCommands=True|OptimizeChangeLocationCommands=True|OriginPosition=Relative|Panelize=False|Plot.Set=SerializeLayerHash.Version~2,ClassName~TLayerToBoolean,16973830~1,16973832~1,16973834~1,16777217~1,16777219~1,16777218~1,16842751~1,16973835~1,16973833~1,16973831~1,16908289~1,16973837~1,16973848~1,16973849~1|PlotPositivePlaneLayers=False|PlotUsedDrillDrawingLayerPairs=True|PlotUsedDrillGuideLayerPairs=True|PlotX2.Set=gfkProfile,gfkNPTH,gfkPTH|PlotX2GerberClass=False|PlusApertureTolerance=50|PlusApertureTolerance=50|Record=GerberView|SoftwareArcs=False|Sorted=False|Sorted=False
+
+[OutputGroup6]
+Name=Report Outputs
+Description=
+TargetPrinter=Brother HL-2170W series Printer
+PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintJobKind=1|PrintWhat=1
+OutputType1=SimpleBOM
+OutputName1=Simple BOM
+OutputDocumentPath1=
+OutputVariantName1=[No Variations]
+OutputDefault1=0
+OutputType2=Script
+OutputName2=Script Output
+OutputDocumentPath2=
+OutputVariantName2=[No Variations]
+OutputDefault2=0
+OutputType3=BOM_PartType
+OutputName3=Bill of Materials
+OutputDocumentPath3=
+OutputVariantName3=[No Variations]
+OutputDefault3=0
+PageOptions3=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4
+Configuration3_Name1=ColumnNameFormat
+Configuration3_Item1=CaptionAsName
+Configuration3_Name2=Filter
+Configuration3_Item2=545046300E5446696C74657257726170706572000D46696C7465722E416374697665090F46696C7465722E43726974657269610A04000000000000000000
+Configuration3_Name3=General
+Configuration3_Item3=OpenExported=True|AddToProject=False|ForceFit=False|NotFitted=False|Database=False|IncludePCBData=False|ShowExportOptions=True|TemplateFilename=..\Altium\BOM OpenPilot.xlt|BatchMode=5|FormWidth=1401|FormHeight=641|SupplierProdQty=1000|SupplierAutoQty=True|SupplierUseCachedPricing=False|SupplierCurrency=<none>
+Configuration3_Name4=GroupOrder
+Configuration3_Item4=Footprint=True|Supplier Part Number 1=True
+Configuration3_Name5=OutputConfigurationParameter1
+Configuration3_Item5=Record=BOMPrintView|ShowNoERC=True|ShowParamSet=True|ShowProbe=True|ShowBlanket=True|ExpandDesignator=True|ExpandNetLabel=False|ExpandPort=False|ExpandSheetNum=False|ExpandDocNum=False
+Configuration3_Name6=PCBDocument
+Configuration3_Item6=
+Configuration3_Name7=SortOrder
+Configuration3_Item7=Description=Up
+Configuration3_Name8=VisibleOrder
+Configuration3_Item8=Description=118|Comment=106|Footprint=99|Value=93|Designator=159|Quantity=57|Supplier Part Number 1=159|Supplier Order Qty 1=123|Supplier Stock 1=101|Supplier Unit Price 1=34|Supplier Subtotal 1=34|Supplier 1=34|Manufacturer 1=34|Manufacturer Part Number 1=32
+OutputType4=ComponentCrossReference
+OutputName4=Component Cross Reference Report
+OutputDocumentPath4=
+OutputVariantName4=[No Variations]
+OutputDefault4=0
+OutputType5=SinglePinNetReporter
+OutputName5=Report Single Pin Nets
+OutputDocumentPath5=
+OutputVariantName5=[No Variations]
+OutputDefault5=0
+OutputType6=ReportHierarchy
+OutputName6=Report Project Hierarchy
+OutputDocumentPath6=
+OutputVariantName6=[No Variations]
+OutputDefault6=0
+
+[OutputGroup7]
+Name=Other Outputs
+Description=
+TargetPrinter=Brother HL-2170W series Printer
+PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintJobKind=1|PrintWhat=1
+OutputType1=Text Print
+OutputName1=Text Print
+OutputDocumentPath1=
+OutputVariantName1=
+OutputDefault1=0
+PageOptions1=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4
+OutputType2=Text Print
+OutputName2=Text Print
+OutputDocumentPath2=
+OutputVariantName2=
+OutputDefault2=0
+PageOptions2=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4|PaperIndex=9
+OutputType3=Text Print
+OutputName3=Text Print
+OutputDocumentPath3=
+OutputVariantName3=
+OutputDefault3=0
+PageOptions3=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4|PaperIndex=9
+OutputType4=Text Print
+OutputName4=Text Print
+OutputDocumentPath4=
+OutputVariantName4=
+OutputDefault4=0
+PageOptions4=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4|PaperIndex=9
+OutputType5=Text Print
+OutputName5=Text Print
+OutputDocumentPath5=
+OutputVariantName5=
+OutputDefault5=0
+PageOptions5=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4|PaperIndex=9
+OutputType6=Text Print
+OutputName6=Text Print
+OutputDocumentPath6=
+OutputVariantName6=
+OutputDefault6=0
+PageOptions6=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4|PaperIndex=9
+OutputType7=Text Print
+OutputName7=Text Print
+OutputDocumentPath7=
+OutputVariantName7=
+OutputDefault7=0
+PageOptions7=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4|PaperIndex=9
+OutputType8=Text Print
+OutputName8=Text Print
+OutputDocumentPath8=
+OutputVariantName8=
+OutputDefault8=0
+PageOptions8=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4|PaperIndex=9
+OutputType9=Text Print
+OutputName9=Text Print
+OutputDocumentPath9=
+OutputVariantName9=
+OutputDefault9=0
+PageOptions9=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4|PaperIndex=9
+OutputType10=Text Print
+OutputName10=Text Print
+OutputDocumentPath10=
+OutputVariantName10=
+OutputDefault10=0
+PageOptions10=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4|PaperIndex=9
+OutputType11=Text Print
+OutputName11=Text Print
+OutputDocumentPath11=
+OutputVariantName11=
+OutputDefault11=0
+PageOptions11=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4|PaperIndex=9
+OutputType12=Text Print
+OutputName12=Text Print
+OutputDocumentPath12=
+OutputVariantName12=
+OutputDefault12=0
+PageOptions12=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4|PaperIndex=9
+OutputType13=Text Print
+OutputName13=Text Print
+OutputDocumentPath13=
+OutputVariantName13=
+OutputDefault13=0
+PageOptions13=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4|PaperIndex=9
+OutputType14=Text Print
+OutputName14=Text Print
+OutputDocumentPath14=
+OutputVariantName14=
+OutputDefault14=0
+PageOptions14=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4|PaperIndex=9
+OutputType15=Text Print
+OutputName15=Text Print
+OutputDocumentPath15=
+OutputVariantName15=
+OutputDefault15=0
+PageOptions15=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4|PaperIndex=9
+OutputType16=Text Print
+OutputName16=Text Print
+OutputDocumentPath16=
+OutputVariantName16=
+OutputDefault16=0
+PageOptions16=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4|PaperIndex=9
+OutputType17=Text Print
+OutputName17=Text Print
+OutputDocumentPath17=
+OutputVariantName17=
+OutputDefault17=0
+PageOptions17=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4|PaperIndex=9
+OutputType18=Text Print
+OutputName18=Text Print
+OutputDocumentPath18=
+OutputVariantName18=
+OutputDefault18=0
+PageOptions18=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4|PaperIndex=9
+OutputType19=Text Print
+OutputName19=Text Print
+OutputDocumentPath19=
+OutputVariantName19=
+OutputDefault19=0
+PageOptions19=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4|PaperIndex=9
+OutputType20=Text Print
+OutputName20=Text Print
+OutputDocumentPath20=
+OutputVariantName20=
+OutputDefault20=0
+PageOptions20=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4|PaperIndex=9
+OutputType21=Text Print
+OutputName21=Text Print
+OutputDocumentPath21=
+OutputVariantName21=
+OutputDefault21=0
+PageOptions21=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4|PaperIndex=9
+OutputType22=Text Print
+OutputName22=Text Print
+OutputDocumentPath22=
+OutputVariantName22=
+OutputDefault22=0
+PageOptions22=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4|PaperIndex=9
+OutputType23=Text Print
+OutputName23=Text Print
+OutputDocumentPath23=
+OutputVariantName23=
+OutputDefault23=0
+PageOptions23=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4|PaperIndex=9
+OutputType24=Text Print
+OutputName24=Text Print
+OutputDocumentPath24=
+OutputVariantName24=
+OutputDefault24=0
+PageOptions24=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4|PaperIndex=9
+OutputType25=Text Print
+OutputName25=Text Print
+OutputDocumentPath25=
+OutputVariantName25=
+OutputDefault25=0
+PageOptions25=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4|PaperIndex=9
+OutputType26=Text Print
+OutputName26=Text Print
+OutputDocumentPath26=
+OutputVariantName26=
+OutputDefault26=0
+PageOptions26=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4|PaperIndex=9
+OutputType27=Text Print
+OutputName27=Text Print
+OutputDocumentPath27=
+OutputVariantName27=
+OutputDefault27=0
+PageOptions27=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4|PaperIndex=9
+OutputType28=Text Print
+OutputName28=Text Print
+OutputDocumentPath28=
+OutputVariantName28=
+OutputDefault28=0
+PageOptions28=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4|PaperIndex=9
+OutputType29=Text Print
+OutputName29=Text Print
+OutputDocumentPath29=
+OutputVariantName29=
+OutputDefault29=0
+PageOptions29=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-3|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4|PaperIndex=9
+
+[OutputGroup8]
+Name=Validation Outputs
+Description=
+TargetPrinter=Brother HL-2170W series Printer
+PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintJobKind=1|PrintWhat=1
+OutputType1=Design Rules Check
+OutputName1=Design Rules Check
+OutputDocumentPath1=
+OutputVariantName1=
+OutputDefault1=0
+PageOptions1=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4
+OutputType2=Electrical Rules Check
+OutputName2=Electrical Rules Check
+OutputDocumentPath2=
+OutputVariantName2=
+OutputDefault2=0
+PageOptions2=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4
+OutputType3=Differences Report
+OutputName3=Differences Report
+OutputDocumentPath3=
+OutputVariantName3=
+OutputDefault3=0
+PageOptions3=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4
+OutputType4=Footprint Comparison Report
+OutputName4=Footprint Comparison Report
+OutputDocumentPath4=
+OutputVariantName4=
+OutputDefault4=0
+OutputType5=Configuration compliance
+OutputName5=Environment configuration compliance check
+OutputDocumentPath5=
+OutputVariantName5=
+OutputDefault5=0
+
+[OutputGroup9]
+Name=Export Outputs
+Description=
+TargetPrinter=Brother HL-2170W series Printer
+PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintJobKind=1|PrintWhat=1
+OutputType1=ExportSTEP
+OutputName1=Export STEP
+OutputDocumentPath1=
+OutputVariantName1=[No Variations]
+OutputDefault1=0
+OutputType2=ExportIDF
+OutputName2=Export IDF
+OutputDocumentPath2=
+OutputVariantName2=
+OutputDefault2=0
+OutputType3=AutoCAD dwg/dxf PCB
+OutputName3=AutoCAD dwg/dxf File PCB
+OutputDocumentPath3=
+OutputVariantName3=
+OutputDefault3=0
+OutputType4=AutoCAD dwg/dxf Schematic
+OutputName4=AutoCAD dwg/dxf File Schematic
+OutputDocumentPath4=
+OutputVariantName4=
+OutputDefault4=0
+
+[Modification Levels]
+Type1=1
+Type2=1
+Type3=1
+Type4=1
+Type5=1
+Type6=1
+Type7=1
+Type8=1
+Type9=1
+Type10=1
+Type11=1
+Type12=1
+Type13=1
+Type14=1
+Type15=1
+Type16=1
+Type17=1
+Type18=1
+Type19=1
+Type20=1
+Type21=1
+Type22=1
+Type23=1
+Type24=1
+Type25=1
+Type26=1
+Type27=1
+Type28=1
+Type29=1
+Type30=1
+Type31=1
+Type32=1
+Type33=1
+Type34=1
+Type35=1
+Type36=1
+Type37=1
+Type38=1
+Type39=1
+Type40=1
+Type41=1
+Type42=1
+Type43=1
+Type44=1
+Type45=1
+Type46=1
+Type47=1
+Type48=1
+Type49=1
+Type50=1
+Type51=1
+Type52=1
+Type53=1
+Type54=1
+Type55=1
+Type56=1
+Type57=1
+Type58=1
+Type59=1
+Type60=1
+Type61=1
+Type62=1
+Type63=1
+Type64=1
+Type65=1
+Type66=1
+Type67=1
+Type68=1
+Type69=1
+Type70=1
+Type71=1
+Type72=1
+Type73=1
+Type74=1
+Type75=1
+Type76=1
+Type77=1
+Type78=1
+
+[Difference Levels]
+Type1=1
+Type2=1
+Type3=1
+Type4=1
+Type5=1
+Type6=1
+Type7=1
+Type8=1
+Type9=1
+Type10=1
+Type11=1
+Type12=1
+Type13=1
+Type14=1
+Type15=1
+Type16=1
+Type17=1
+Type18=1
+Type19=1
+Type20=1
+Type21=1
+Type22=1
+Type23=1
+Type24=1
+Type25=1
+Type26=1
+Type27=1
+Type28=1
+Type29=1
+Type30=1
+Type31=1
+Type32=1
+Type33=1
+Type34=1
+Type35=1
+Type36=1
+Type37=1
+Type38=1
+Type39=1
+Type40=1
+Type41=1
+Type42=1
+Type43=1
+
+[Electrical Rules Check]
+Type1=1
+Type2=1
+Type3=2
+Type4=1
+Type5=2
+Type6=2
+Type7=1
+Type8=1
+Type9=1
+Type10=1
+Type11=2
+Type12=2
+Type13=2
+Type14=1
+Type15=1
+Type16=1
+Type17=1
+Type18=1
+Type19=1
+Type20=1
+Type21=1
+Type22=1
+Type23=1
+Type24=1
+Type25=2
+Type26=2
+Type27=2
+Type28=1
+Type29=1
+Type30=1
+Type31=1
+Type32=2
+Type33=2
+Type34=2
+Type35=1
+Type36=2
+Type37=1
+Type38=2
+Type39=2
+Type40=2
+Type41=0
+Type42=2
+Type43=1
+Type44=1
+Type45=2
+Type46=1
+Type47=2
+Type48=2
+Type49=1
+Type50=2
+Type51=1
+Type52=1
+Type53=1
+Type54=1
+Type55=1
+Type56=2
+Type57=1
+Type58=1
+Type59=0
+Type60=1
+Type61=2
+Type62=2
+Type63=1
+Type64=0
+Type65=2
+Type66=3
+Type67=2
+Type68=2
+Type69=1
+Type70=2
+Type71=2
+Type72=2
+Type73=2
+Type74=1
+Type75=2
+Type76=1
+Type77=1
+Type78=1
+Type79=1
+Type80=2
+Type81=3
+Type82=3
+Type83=3
+Type84=3
+Type85=3
+Type86=2
+Type87=2
+Type88=2
+Type89=1
+Type90=1
+Type91=3
+Type92=3
+Type93=2
+Type94=2
+Type95=2
+Type96=2
+Type97=2
+Type98=0
+Type99=1
+Type100=2
+Type101=1
+Type102=2
+Type103=2
+Type104=1
+Type105=2
+Type106=2
+Type107=2
+Type108=2
+Type109=1
+Type110=0
+
+[ERC Connection Matrix]
+L1=NNNNNNNNNNNWNNNWW
+L2=NNWNNNNWWWNWNWNWN
+L3=NWEENEEEENEWNEEWN
+L4=NNENNNWEENNWNENWN
+L5=NNNNNNNNNNNNNNNNN
+L6=NNENNNNEENNWNENWN
+L7=NNEWNNWEENNWNENWN
+L8=NWEENEENEEENNEENN
+L9=NWEENEEEENEWNEEWW
+L10=NWNNNNNENNEWNNEWN
+L11=NNENNNNEEENWNENWN
+L12=WWWWNWWNWWWNWWWNN
+L13=NNNNNNNNNNNWNNNWW
+L14=NWEENEEEENEWNEEWW
+L15=NNENNNNEEENWNENWW
+L16=WWWWNWWNWWWNWWWNW
+L17=WNNNNNNNWNNNWWWWN
+
+[Annotate]
+SortOrder=3
+SortLocation=0
+MatchParameter1=Comment
+MatchStrictly1=1
+MatchParameter2=Library Reference
+MatchStrictly2=1
+PhysicalNamingFormat=$Component_$RoomName
+GlobalIndexSortOrder=3
+GlobalIndexSortLocation=0
+
+[PrjClassGen]
+CompClassManualEnabled=0
+CompClassManualRoomEnabled=0
+NetClassAutoBusEnabled=1
+NetClassAutoCompEnabled=0
+NetClassAutoNamedHarnessEnabled=0
+NetClassManualEnabled=1
+
+[LibraryUpdateOptions]
+SelectedOnly=0
+UpdateVariants=1
+PartTypes=0
+ComponentLibIdentifierKind0=Library Name And Type
+ComponentLibraryIdentifier0=CopterControl.SchLib
+ComponentDesignItemID0=CC-STM32F103CBT6
+ComponentSymbolReference0=CC-STM32F103CBT6
+ComponentUpdate0=1
+ComponentIsDeviceSheet0=0
+FullReplace=1
+UpdateDesignatorLock=1
+UpdatePartIDLock=1
+PreserveParameterLocations=1
+PreserveParameterVisibility=1
+DoGraphics=1
+DoParameters=1
+DoModels=1
+AddParameters=0
+RemoveParameters=0
+AddModels=1
+RemoveModels=1
+UpdateCurrentModels=1
+ParameterName0=Comment
+ParameterUpdate0=1
+ParameterName1=Component Kind
+ParameterUpdate1=1
+ParameterName2=ComponentLink1Description
+ParameterUpdate2=1
+ParameterName3=ComponentLink1URL
+ParameterUpdate3=1
+ParameterName4=ComponentLink2Description
+ParameterUpdate4=1
+ParameterName5=ComponentLink2URL
+ParameterUpdate5=1
+ParameterName6=DatasheetVersion
+ParameterUpdate6=1
+ParameterName7=Description
+ParameterUpdate7=1
+ParameterName8=Library Reference
+ParameterUpdate8=1
+ParameterName9=PackageDescription
+ParameterUpdate9=1
+ParameterName10=PackageReference
+ParameterUpdate10=1
+ParameterName11=PackageVersion
+ParameterUpdate11=1
+ParameterName12=Published
+ParameterUpdate12=1
+ParameterName13=Publisher
+ParameterUpdate13=1
+ParameterName14=Supplier 1
+ParameterUpdate14=1
+ParameterName15=Supplier Part Number 1
+ParameterUpdate15=1
+ModelTypeGroup0=PCBLIB
+ModelTypeUpdate0=1
+ModelType0=PCBLIB
+ModelName0=LQFP48_L
+ModelUpdate0=1
+ModelType1=PCBLIB
+ModelName1=LQFP48_M
+ModelUpdate1=1
+ModelType2=PCBLIB
+ModelName2=LQFP48_N
+ModelUpdate2=1
+
+[DatabaseUpdateOptions]
+SelectedOnly=0
+UpdateVariants=1
+PartTypes=0
+
+[Comparison Options]
+ComparisonOptions0=Kind=Net|MinPercent=75|MinMatch=3|ShowMatch=-1|Confirm=-1|UseName=-1|InclAllRules=0
+ComparisonOptions1=Kind=Net Class|MinPercent=75|MinMatch=3|ShowMatch=-1|Confirm=-1|UseName=-1|InclAllRules=0
+ComparisonOptions2=Kind=Component Class|MinPercent=75|MinMatch=3|ShowMatch=-1|Confirm=-1|UseName=-1|InclAllRules=0
+ComparisonOptions3=Kind=Rule|MinPercent=75|MinMatch=3|ShowMatch=-1|Confirm=-1|UseName=-1|InclAllRules=0
+ComparisonOptions4=Kind=Differential Pair|MinPercent=50|MinMatch=1|ShowMatch=0|Confirm=0|UseName=0|InclAllRules=0
+ComparisonOptions5=Kind=Code Memory|MinPercent=75|MinMatch=3|ShowMatch=-1|Confirm=-1|UseName=-1|InclAllRules=0
+
+[SmartPDF]
+PageOptions=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PrintScaleMode=1|PaperKind=A4
+Configuration_Name1=OutputConfigurationParameter1
+Configuration_Item1=PrintArea=DesignExtent|PrintAreaLowerLeftCornerX=0|PrintAreaLowerLeftCornerY=0|PrintAreaUpperRightCornerX=0|PrintAreaUpperRightCornerY=0|Record=PcbPrintView
+Configuration_Name2=OutputConfigurationParameter2
+Configuration_Item2=IncludeBottomLayerComponents=False|IncludeMultiLayerComponents=False|IncludeTopLayerComponents=False|Index=0|Mirror=False|Name=Panel Details|PadNumberFontSize=14|Record=PcbPrintOut|ShowHoles=False|ShowPadNets=False|ShowPadNumbers=False|SubstituteFonts=False
+Configuration_Name3=OutputConfigurationParameter3
+Configuration_Item3=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical16|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration_Name4=OutputConfigurationParameter4
+Configuration_Item4=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical1|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
+Configuration_Name5=OutputConfigurationParameter5
+Configuration_Item5=IncludeBottomLayerComponents=False|IncludeMultiLayerComponents=False|IncludeTopLayerComponents=False|Index=1|Mirror=False|Name=Top SilkScreen|PadNumberFontSize=14|Record=PcbPrintOut|ShowHoles=False|ShowPadNets=False|ShowPadNumbers=False|SubstituteFonts=False
+Configuration_Name6=OutputConfigurationParameter6
+Configuration_Item6=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=TopOverlay|Polygon=Full|PrintOutIndex=1|Record=PcbPrintLayer
+Configuration_Name7=OutputConfigurationParameter7
+Configuration_Item7=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical16|Polygon=Full|PrintOutIndex=1|Record=PcbPrintLayer
+Configuration_Name8=OutputConfigurationParameter8
+Configuration_Item8=IncludeBottomLayerComponents=False|IncludeMultiLayerComponents=False|IncludeTopLayerComponents=False|Index=2|Mirror=False|Name=Top Copper|PadNumberFontSize=14|Record=PcbPrintOut|ShowHoles=False|ShowPadNets=False|ShowPadNumbers=False|SubstituteFonts=False
+Configuration_Name9=OutputConfigurationParameter9
+Configuration_Item9=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=TopLayer|Polygon=Full|PrintOutIndex=2|Record=PcbPrintLayer
+Configuration_Name10=OutputConfigurationParameter10
+Configuration_Item10=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical16|Polygon=Full|PrintOutIndex=2|Record=PcbPrintLayer
+Configuration_Name11=OutputConfigurationParameter11
+Configuration_Item11=IncludeBottomLayerComponents=False|IncludeMultiLayerComponents=False|IncludeTopLayerComponents=False|Index=3|Mirror=False|Name=Groud Copper|PadNumberFontSize=14|Record=PcbPrintOut|ShowHoles=False|ShowPadNets=False|ShowPadNumbers=False|SubstituteFonts=False
+Configuration_Name12=OutputConfigurationParameter12
+Configuration_Item12=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=MidLayer1|Polygon=Full|PrintOutIndex=3|Record=PcbPrintLayer
+Configuration_Name13=OutputConfigurationParameter13
+Configuration_Item13=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical16|Polygon=Full|PrintOutIndex=3|Record=PcbPrintLayer
+Configuration_Name14=OutputConfigurationParameter14
+Configuration_Item14=IncludeBottomLayerComponents=False|IncludeMultiLayerComponents=False|IncludeTopLayerComponents=False|Index=4|Mirror=False|Name=Power Layer|PadNumberFontSize=14|Record=PcbPrintOut|ShowHoles=False|ShowPadNets=False|ShowPadNumbers=False|SubstituteFonts=False
+Configuration_Name15=OutputConfigurationParameter15
+Configuration_Item15=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=MidLayer2|Polygon=Full|PrintOutIndex=4|Record=PcbPrintLayer
+Configuration_Name16=OutputConfigurationParameter16
+Configuration_Item16=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical16|Polygon=Full|PrintOutIndex=4|Record=PcbPrintLayer
+Configuration_Name17=OutputConfigurationParameter17
+Configuration_Item17=IncludeBottomLayerComponents=False|IncludeMultiLayerComponents=False|IncludeTopLayerComponents=False|Index=5|Mirror=False|Name=Bottom Copper|PadNumberFontSize=14|Record=PcbPrintOut|ShowHoles=False|ShowPadNets=False|ShowPadNumbers=False|SubstituteFonts=False
+Configuration_Name18=OutputConfigurationParameter18
+Configuration_Item18=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=BottomLayer|Polygon=Full|PrintOutIndex=5|Record=PcbPrintLayer
+Configuration_Name19=OutputConfigurationParameter19
+Configuration_Item19=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical16|Polygon=Full|PrintOutIndex=5|Record=PcbPrintLayer
+Configuration_Name20=OutputConfigurationParameter20
+Configuration_Item20=IncludeBottomLayerComponents=False|IncludeMultiLayerComponents=False|IncludeTopLayerComponents=False|Index=6|Mirror=False|Name=Bottom Silk Screen|PadNumberFontSize=14|Record=PcbPrintOut|ShowHoles=False|ShowPadNets=False|ShowPadNumbers=False|SubstituteFonts=False
+Configuration_Name21=OutputConfigurationParameter21
+Configuration_Item21=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=BottomOverlay|Polygon=Full|PrintOutIndex=6|Record=PcbPrintLayer
+Configuration_Name22=OutputConfigurationParameter22
+Configuration_Item22=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical16|Polygon=Full|PrintOutIndex=6|Record=PcbPrintLayer
+

make/firmware-defs.mk

@@ -136,7 +136,7 @@ endef
 define OPFW_TEMPLATE
 FORCE:
 
-$(1).firmware_info.c: $(1) $(ROOT_DIR)/flight/templates/firmware_info.c.template $(ROOT_DIR)/shared/uavobjectdefinition
+$(1).firmware_info.c: $(1) $(ROOT_DIR)/flight/templates/firmware_info.c.template FORCE
 	@$(ECHO) $(MSG_FWINFO) $$(call toprel, $$@)
 	$(V1) $(VERSION_INFO) \
 		--template=$(ROOT_DIR)/flight/templates/firmware_info.c.template \

make/tools.mk

@@ -59,14 +59,14 @@ ifeq ($(UNAME), Linux)
     ifeq ($(ARCH), x86_64)
         ARM_SDK_URL := https://launchpad.net/gcc-arm-embedded/4.9/4.9-2014-q4-major/+download/gcc-arm-none-eabi-4_9-2014q4-20141203-linux.tar.bz2
         ARM_SDK_MD5_URL:= https://launchpad.net/gcc-arm-embedded/4.9/4.9-2014-q4-major/+download/gcc-arm-none-eabi-4_9-2014q4-20141203-linux.tar.bz2/+md5
-        QT_SDK_URL  := http://download.qt-project.org/official_releases/qt/5.4/5.4.0/qt-opensource-linux-x64-5.4.0.run
-        QT_SDK_MD5_URL := http://download.qt-project.org/official_releases/qt/5.4/5.4.0/qt-opensource-linux-x64-5.4.0.run.md5
+        QT_SDK_URL  := http://download.qt.io/official_releases/qt/5.4/5.4.1/qt-opensource-linux-x64-5.4.1.run
+        QT_SDK_MD5_URL := http://download.qt.io/official_releases/qt/5.4/5.4.1/qt-opensource-linux-x64-5.4.1.run.md5
         QT_SDK_ARCH := gcc_64
     else
         ARM_SDK_URL := https://launchpad.net/gcc-arm-embedded/4.9/4.9-2014-q4-major/+download/gcc-arm-none-eabi-4_9-2014q4-20141203-linux.tar.bz2
         ARM_SDK_MD5_URL := https://launchpad.net/gcc-arm-embedded/4.9/4.9-2014-q4-major/+download/gcc-arm-none-eabi-4_9-2014q4-20141203-linux.tar.bz2/+md5
-        QT_SDK_URL  := http://download.qt-project.org/official_releases/qt/5.4/5.4.0/qt-opensource-linux-x86-5.4.0.run
-        QT_SDK_MD5_URL := http://download.qt-project.org/official_releases/qt/5.4/5.4.0/qt-opensource-linux-x86-5.4.0.run.md5
+        QT_SDK_URL  := http://download.qt.io/official_releases/qt/5.4/5.4.1/qt-opensource-linux-x86-5.4.1.run
+        QT_SDK_MD5_URL := http://download.qt.io/official_releases/qt/5.4/5.4.1/qt-opensource-linux-x86-5.4.1.run.md5
         QT_SDK_ARCH := gcc
     endif
     UNCRUSTIFY_URL := http://wiki.openpilot.org/download/attachments/18612236/uncrustify-0.60.tar.gz
@@ -74,19 +74,19 @@ ifeq ($(UNAME), Linux)
 else ifeq ($(UNAME), Darwin)
     ARM_SDK_URL    := https://launchpad.net/gcc-arm-embedded/4.9/4.9-2014-q4-major/+download/gcc-arm-none-eabi-4_9-2014q4-20141203-mac.tar.bz2
     ARM_SDK_MD5_URL:= https://launchpad.net/gcc-arm-embedded/4.9/4.9-2014-q4-major/+download/gcc-arm-none-eabi-4_9-2014q4-20141203-mac.tar.bz2/+md5
-    QT_SDK_URL  := http://download.qt-project.org/official_releases/qt/5.4/5.4.0/qt-opensource-mac-x64-clang-5.4.0.dmg
-    QT_SDK_MD5_URL := http://download.qt-project.org/official_releases/qt/5.4/5.4.0/qt-opensource-mac-x64-clang-5.4.0.dmg.md5
+    QT_SDK_URL  := http://download.qt.io/official_releases/qt/5.4/5.4.1/qt-opensource-mac-x64-clang-5.4.1.dmg
+    QT_SDK_MD5_URL := http://download.qt.io/official_releases/qt/5.4/5.4.1/qt-opensource-mac-x64-clang-5.4.1.dmg.md5
     QT_SDK_ARCH := clang_64
-    QT_SDK_MAINTENANCE_TOOL := /Volumes/qt-opensource-mac-x64-clang-5.4.0/qt-opensource-mac-x64-clang-5.4.0.app/Contents/MacOS/qt-opensource-mac-x64-clang-5.4.0
-    QT_SDK_MOUNT_DIR := /Volumes/qt-opensource-mac-x64-clang-5.4.0
-    QT_SDK_INSTALLER_DAT := /Volumes/qt-opensource-mac-x64-clang-5.4.0/qt-opensource-mac-x64-clang-5.4.0.app/Contents/Resources/installer.dat
+    QT_SDK_MAINTENANCE_TOOL := /Volumes/qt-opensource-mac-x64-clang-5.4.1/qt-opensource-mac-x64-clang-5.4.1.app/Contents/MacOS/qt-opensource-mac-x64-clang-5.4.1
+    QT_SDK_MOUNT_DIR := /Volumes/qt-opensource-mac-x64-clang-5.4.1
+    QT_SDK_INSTALLER_DAT := /Volumes/qt-opensource-mac-x64-clang-5.4.1/qt-opensource-mac-x64-clang-5.4.1.app/Contents/Resources/installer.dat
     UNCRUSTIFY_URL := http://wiki.openpilot.org/download/attachments/18612236/uncrustify-0.60.tar.gz
     DOXYGEN_URL    := http://wiki.openpilot.org/download/attachments/18612236/doxygen-1.8.3.1.src.tar.gz
 else ifeq ($(UNAME), Windows)
     ARM_SDK_URL    := https://launchpad.net/gcc-arm-embedded/4.9/4.9-2014-q4-major/+download/gcc-arm-none-eabi-4_9-2014q4-20141203-win32.zip
     ARM_SDK_MD5_URL:= https://launchpad.net/gcc-arm-embedded/4.9/4.9-2014-q4-major/+download/gcc-arm-none-eabi-4_9-2014q4-20141203-win32.zip/+md5
-    QT_SDK_URL     := http://download.qt-project.org/official_releases/qt/5.4/5.4.0/qt-opensource-windows-x86-mingw491_opengl-5.4.0.exe
-    QT_SDK_MD5_URL := http://download.qt-project.org/official_releases/qt/5.4/5.4.0/qt-opensource-windows-x86-mingw491_opengl-5.4.0.exe.md5
+    QT_SDK_URL     := http://download.qt.io/official_releases/qt/5.4/5.4.1/qt-opensource-windows-x86-mingw491_opengl-5.4.1.exe
+    QT_SDK_MD5_URL := http://download.qt.io/official_releases/qt/5.4/5.4.1/qt-opensource-windows-x86-mingw491_opengl-5.4.1.exe.md5
     QT_SDK_ARCH    := mingw491_32
     NSIS_URL       := http://wiki.openpilot.org/download/attachments/18612236/nsis-2.46-unicode.tar.bz2
     SDL_URL        := http://wiki.openpilot.org/download/attachments/18612236/SDL-devel-1.2.15-mingw32.tar.gz
@@ -94,30 +94,32 @@ else ifeq ($(UNAME), Windows)
     UNCRUSTIFY_URL := http://wiki.openpilot.org/download/attachments/18612236/uncrustify-0.60-windows.tar.bz2
     DOXYGEN_URL    := http://wiki.openpilot.org/download/attachments/18612236/doxygen-1.8.3.1-windows.tar.bz2
     MESAWIN_URL    := http://wiki.openpilot.org/download/attachments/18612236/mesawin.tar.gz
+    CMAKE_URL      := http://www.cmake.org/files/v2.8/cmake-2.8.12.2-win32-x86.zip
+    CMAKE_MD5_URL  := http://wiki.openpilot.org/download/attachments/18612236/cmake-2.8.12.2-win32-x86.zip.md5
+    MSYS_URL       := https://wiki.openpilot.org/download/attachments/5472258/MSYS-1.0.11.zip
 endif
 
 GTEST_URL := http://wiki.openpilot.org/download/attachments/18612236/gtest-1.6.0.zip
 
-# When changing PYTHON_DIR, you must also update it in ground/openpilotgcs/src/python.pri
-# When changing SDL_DIR or OPENSSL_DIR, you must also update them in ground/openpilotgcs/openpilotgcs.pri
-ARM_SDK_DIR     := $(TOOLS_DIR)/gcc-arm-none-eabi-4_9-2014q4
-QT_SDK_DIR      := $(TOOLS_DIR)/qt-5.4.0
-MINGW_DIR       := $(QT_SDK_DIR)/Tools/mingw491_32
-PYTHON_DIR      := $(QT_SDK_DIR)/Tools/mingw491_32/opt/bin
-NSIS_DIR        := $(TOOLS_DIR)/nsis-2.46-unicode
-SDL_DIR         := $(TOOLS_DIR)/SDL-1.2.15
-OPENSSL_DIR     := $(TOOLS_DIR)/openssl-1.0.1e-win32
-UNCRUSTIFY_DIR  := $(TOOLS_DIR)/uncrustify-0.60
-DOXYGEN_DIR     := $(TOOLS_DIR)/doxygen-1.8.3.1
-GTEST_DIR       := $(TOOLS_DIR)/gtest-1.6.0
+ARM_SDK_DIR    := $(TOOLS_DIR)/gcc-arm-none-eabi-4_9-2014q4
+QT_SDK_DIR     := $(TOOLS_DIR)/qt-5.4.1
+UNCRUSTIFY_DIR := $(TOOLS_DIR)/uncrustify-0.60
+DOXYGEN_DIR    := $(TOOLS_DIR)/doxygen-1.8.3.1
+GTEST_DIR      := $(TOOLS_DIR)/gtest-1.6.0
 
-ifeq ($(UNAME), Windows)
-    MINGW_DIR   := $(QT_SDK_DIR)/Tools/$(QT_SDK_ARCH)
-    PYTHON_DIR  := $(QT_SDK_DIR)/Tools/$(QT_SDK_ARCH)/opt/bin
-    NSIS_DIR    := $(TOOLS_DIR)/nsis-2.46-unicode
-    SDL_DIR     := $(TOOLS_DIR)/SDL-1.2.15
-    OPENSSL_DIR := $(TOOLS_DIR)/openssl-1.0.1e-win32
-    MESAWIN_DIR := $(TOOLS_DIR)/mesawin
+ifeq ($(UNAME), Linux)
+else ifeq ($(UNAME), Darwin)
+else ifeq ($(UNAME), Windows)
+    MINGW_DIR    := $(QT_SDK_DIR)/Tools/$(QT_SDK_ARCH)
+    # When changing PYTHON_DIR, you must also update it in ground/openpilotgcs/src/python.pri
+    PYTHON_DIR   := $(QT_SDK_DIR)/Tools/$(QT_SDK_ARCH)/opt/bin
+    NSIS_DIR     := $(TOOLS_DIR)/nsis-2.46-unicode
+    # When changing SDL_DIR or OPENSSL_DIR, you must also update them in ground/openpilotgcs/openpilotgcs.pri
+    SDL_DIR      := $(TOOLS_DIR)/SDL-1.2.15
+    OPENSSL_DIR  := $(TOOLS_DIR)/openssl-1.0.1e-win32
+    MESAWIN_DIR  := $(TOOLS_DIR)/mesawin
+    CMAKE_DIR    := $(TOOLS_DIR)/cmake-2.8.12.2-win32-x86
+    MSYS_DIR     := $(TOOLS_DIR)/msys
 endif
 
 QT_SDK_PREFIX := $(QT_SDK_DIR)
@@ -165,6 +167,7 @@ GIT			:= git
 CURL		:= curl
 TAR			:= tar
 UNZIP		:= unzip
+ZIP			:= gzip
 OPENSSL		:= openssl
 ANT			:= ant
 JAVAC		:= javac
@@ -265,6 +268,27 @@ define MD5_CHECK_TEMPLATE
 "`test -f \"$(1)\" && $(OPENSSL) dgst -md5 \"$(1)\" | $(CUT) -f2 -d' '`" $(2) "`$(CUT) -f1 -d' ' < \"$(1).md5\"`"
 endef
 
+##############################
+#
+# Cross-platform MD5 generation template
+#  $(1) = file name without quotes
+#
+##############################
+
+ifeq ($(UNAME), Darwin)
+
+define MD5_GEN_TEMPLATE
+md5 -r $(1) > $(1).md5
+endef
+
+else
+
+define MD5_GEN_TEMPLATE
+$(OPENSSL) dgst -r -md5 $(1) > $(1).md5
+endef
+
+endif
+
 ##############################
 #
 # Cross platform download template
@@ -363,10 +387,10 @@ qt_sdk_install: qt_sdk_clean | $(DL_DIR) $(TOOLS_DIR)
 	$(V1) $(DL_DIR)/$(5) --dump-binary-data -o  $(1)
 # Extract packages under tool directory
 	$(V1) $(MKDIR) -p $$(call toprel, $(dir $(2)))
-	$(V1) $(SEVENZIP) -y -o$(2) x "$(1)/qt.54.win32_mingw491/5.4.0-1qt5_essentials.7z" | grep -v Extracting
-	$(V1) $(SEVENZIP) -y -o$(2) x "$(1)/qt.54.win32_mingw491/5.4.0-1i686-4.9.1-release-posix-dwarf-rt_v3-rev2-runtime.7z" | grep -v Extracting
-	$(V1) $(SEVENZIP) -y -o$(2) x "$(1)/qt.54.win32_mingw491/5.4.0-1icu_53_1_mingw_builds_4_9_1_posix_dwarf_32.7z" | grep -v Extracting
-	$(V1) $(SEVENZIP) -y -o$(2) x "$(1)/qt.54.win32_mingw491/5.4.0-1qt5_addons.7z" | grep -v Extracting
+	$(V1) $(SEVENZIP) -y -o$(2) x "$(1)/qt.54.win32_mingw491/5.4.1-0qt5_essentials.7z" | grep -v Extracting
+	$(V1) $(SEVENZIP) -y -o$(2) x "$(1)/qt.54.win32_mingw491/5.4.1-0i686-4.9.1-release-posix-dwarf-rt_v3-rev2-runtime.7z" | grep -v Extracting
+	$(V1) $(SEVENZIP) -y -o$(2) x "$(1)/qt.54.win32_mingw491/5.4.1-0icu_53_1_mingw_builds_4_9_1_posix_dwarf_32.7z" | grep -v Extracting
+	$(V1) $(SEVENZIP) -y -o$(2) x "$(1)/qt.54.win32_mingw491/5.4.1-0qt5_addons.7z" | grep -v Extracting
 	$(V1) $(SEVENZIP) -y -o$(2) x "$(1)/qt.tools.win32_mingw491/4.9.1-2i686-4.9.1-release-posix-dwarf-rt_v3-rev2.7z" | grep -v Extracting
 # Run patcher
 	@$(ECHO)
@@ -427,10 +451,10 @@ qt_sdk_install: qt_sdk_clean | $(DL_DIR) $(TOOLS_DIR)
 	$(V1) $(DL_DIR)/$(5) --dump-binary-data -o  $(1)
 # Extract packages under tool directory
 	$(V1) $(MKDIR) -p $$(call toprel, $(dir $(2)))
-	$(V1) $(SEVENZIP) -y -o$(2) x "$(1)/qt.54.$(6)/5.4.0-1qt5_essentials.7z" | grep -v Extracting
-	$(V1) if [ -f "$(1)/qt.54.$(6)/5.4.0-1icu_53_1_ubuntu_11_10_64.7z" ]; then $(SEVENZIP) -y -o$(2) x "$(1)/qt.54.$(6)/5.4.0-1icu_53_1_ubuntu_11_10_64.7z" | grep -v Extracting; fi
-	$(V1) if [ -f "$(1)/qt.54.$(6)/5.4.0-1icu_53_1_ubuntu_11_10_32.7z" ]; then $(SEVENZIP) -y -o$(2) x "$(1)/qt.54.$(6)/5.4.0-1icu_53_1_ubuntu_11_10_32.7z" | grep -v Extracting; fi	
-	$(V1) $(SEVENZIP) -y -o$(2) x "$(1)/qt.54.$(6)/5.4.0-1qt5_addons.7z" | grep -v Extracting
+	$(V1) $(SEVENZIP) -y -o$(2) x "$(1)/qt.54.$(6)/5.4.1-0qt5_essentials.7z" | grep -v Extracting
+	$(V1) if [ -f "$(1)/qt.54.$(6)/5.4.1-0icu_53_1_ubuntu_11_10_64.7z" ]; then $(SEVENZIP) -y -o$(2) x "$(1)/qt.54.$(6)/5.4.1-0icu_53_1_ubuntu_11_10_64.7z" | grep -v Extracting; fi
+	$(V1) if [ -f "$(1)/qt.54.$(6)/5.4.1-0icu_53_1_ubuntu_11_10_32.7z" ]; then $(SEVENZIP) -y -o$(2) x "$(1)/qt.54.$(6)/5.4.1-0icu_53_1_ubuntu_11_10_32.7z" | grep -v Extracting; fi	
+	$(V1) $(SEVENZIP) -y -o$(2) x "$(1)/qt.54.$(6)/5.4.1-0qt5_addons.7z" | grep -v Extracting
 # Run patcher
 	@$(ECHO)
 	@$(ECHO) "Executing QtPatch in" $$(call toprel, $(QT_SDK_PREFIX))
@@ -492,11 +516,11 @@ qt_sdk_install: qt_sdk_clean | $(DL_DIR) $(TOOLS_DIR)
 # Extract packages under tool directory
 	$(V1) $(MKDIR) -p $$(call toprel, $(dir $(2)))
 	#$(V1) $(SEVENZIP) -y -o$(2) x "$(1)/qt.readme/1.0.0-0qt-project-url.7z" | grep -v Extracting
-	#$(V1) $(SEVENZIP) -y -o$(2) x "$(1)/qt/5.4.0ThirdPartySoftware_Listing.7z" | grep -v Extracting
+	#$(V1) $(SEVENZIP) -y -o$(2) x "$(1)/qt/5.4.1ThirdPartySoftware_Listing.7z" | grep -v Extracting
 	#$(V1) $(SEVENZIP) -y -o$(2) x "$(1)/qt.readme/1.0.0-0readme.7z" | grep -v Extracting
-	$(V1) $(SEVENZIP) -y -o$(2) x "$(1)/qt.54.$(6)/5.4.0-1qt5_essentials.7z" | grep -v Extracting
-#	$(V1) $(SEVENZIP) -y -o$(2) x "$(1)/qt.54.$(6).essentials/5.4.0icu_path_patcher.sh.7z" | grep -v Extracting
-	$(V1) $(SEVENZIP) -y -o$(2) x "$(1)/qt.54.$(6)/5.4.0-1qt5_addons.7z" | grep -v Extracting
+	$(V1) $(SEVENZIP) -y -o$(2) x "$(1)/qt.54.$(6)/5.4.1-0qt5_essentials.7z" | grep -v Extracting
+#	$(V1) $(SEVENZIP) -y -o$(2) x "$(1)/qt.54.$(6).essentials/5.4.1icu_path_patcher.sh.7z" | grep -v Extracting
+	$(V1) $(SEVENZIP) -y -o$(2) x "$(1)/qt.54.$(6)/5.4.1-0qt5_addons.7z" | grep -v Extracting
 	
 	
 # go to OpenPilot/tools/5.4/gcc_64 and call patcher.sh
@@ -777,6 +801,7 @@ $(eval $(call TOOL_INSTALL_TEMPLATE,openssl,$(OPENSSL_DIR),$(OPENSSL_URL),,$(not
 
 ifeq ($(shell [ -d "$(OPENSSL_DIR)" ] && $(ECHO) "exists"), exists)
     export OPENSSL := $(OPENSSL_DIR)/bin/openssl
+    export OPENSSL_CONF := $(OPENSSL_DIR)/bin/openssl.cfg
     export OPENSSL_DIR
 else
     # not installed, hope it's in the path...
@@ -899,6 +924,49 @@ export GTEST_DIR
 gtest_version:
 	-$(V1) $(SED) -n "s/^PACKAGE_STRING='\(.*\)'/\1/p" < $(GTEST_DIR)/configure
 
+##############################
+#
+# CMake
+#
+##############################
+
+$(eval $(call TOOL_INSTALL_TEMPLATE,cmake,$(CMAKE_DIR),$(CMAKE_URL),$(CMAKE_MD5_URL),$(notdir $(CMAKE_URL))))
+
+ifeq ($(shell [ -d "$(CMAKE_DIR)" ] && $(ECHO) "exists"), exists)
+    export CMAKE := $(CMAKE_DIR)/bin/cmake
+    export PATH := $(CMAKE_DIR)/bin:$(PATH)
+else
+    # not installed, hope it's in the path...
+    #$(info $(EMPTY) WARNING     $(call toprel, $(CMAKE_DIR)) not found (make cmake_install), using system PATH)
+    export CMAKE := cmake
+endif
+
+.PHONY: cmake_version
+cmake_version:
+	-$(V1) $(CMAKE) --version
+
+##############################
+#
+# MSYS
+#
+##############################
+
+ifeq ($(UNAME), Windows)
+
+$(eval $(call TOOL_INSTALL_TEMPLATE,msys,$(MSYS_DIR),$(MSYS_URL),,$(notdir $(MSYS_URL))))
+
+ifeq ($(shell [ -d "$(MSYS_DIR)" ] && $(ECHO) "exists"), exists)
+    export MSYS_DIR
+else
+    # not installed, hope it's in the path...
+    #$(info $(EMPTY) WARNING     $(call toprel, $(MSYS_DIR)) not found (make msys_install), using system PATH)
+endif
+
+.PHONY: msys_version
+msys_version:
+
+endif
+
 
 
 

make/vagrant/vagrant_openpilot_dev/README

@@ -0,0 +1,35 @@
+vagrant_openpilot_dev - provides a Vagrant box with everything needed to compile OpenPilot code base. 
+
+username: vagrant
+password: vagrant
+
+For details of an OpenPilot development environment please refer to the Development Manual https://wiki.openpilot.org/display/WIKI/OpenPilot+Developer+Manual.
+
+To enable Android Studio and Java, edit file install-tools.sh and set ANDROID_ENV=true. You might also want to adjust for the versions it downloads.
+
+If you would like for VirtualBox window to open, this can be useful for running apps, set 'vb.gui = true' in Vagrantfile. 
+
+Starting
+
+$ vagrant up
+
+Once your machine has started up you can ssh into it or log into Xfce (assuming you set vb.gui = true). Any changes you make persist in the Vagrant VM, when you are done run 'vagrant halt', this will turn off the vm and persist your changes.
+
+$ vagrant ssh
+
+To begin with Openpilot base source is checked out into ~/workspace/openpilot/OpenPilot. Run the following command to get the rest of the tools in place (this will take a bit of time):
+
+  make all_sdk_install
+
+You are now ready to browse the code.
+
+If you wish to start all over:
+$ vagrant halt 
+$ vagrant destroy
+
+For more information about OpenPilot please visit the forums at http://forums.openpilot.org.
+
+For more informatin about Vagrant please visit http://docs.vagrantup.com/.
+
+Based off https://github.com/steveliles/vagrant-boxes/blob/master/debian-android-studio/install-tools.sh
+

make/vagrant/vagrant_openpilot_dev/Vagrantfile

@@ -0,0 +1,35 @@
+# -*- mode: ruby -*-
+# vi: set ft=ruby :
+
+VAGRANTFILE_API_VERSION = "2"
+
+Vagrant.configure(VAGRANTFILE_API_VERSION) do |config|
+
+  config.vm.box = "ubuntu/trusty64"
+  #config.vm.box = "jhartman/xubuntu14.04.1"
+
+  config.vm.provider "virtualbox" do |vb|
+    vb.gui = true
+    vb.customize ["modifyvm", :id, "--memory", "4096"]
+  end
+
+  #config.vm.synced_folder "../../projects", "/home/vagrant/projects"
+
+  config.vm.provision :shell, :path => "bootstrap.sh"
+
+  config.ssh.forward_x11=true
+
+  # update definitions
+  config.vm.provision "shell", inline: "apt-get update"	
+
+  # just the basic desktop environment. if you want the addons, you can install them later
+  config.vm.provision "shell", inline: "apt-get install xubuntu-desktop --no-install-recommends --assume-yes"
+
+  # otherwise icons don't get loaded
+  config.vm.provision "shell", inline: "apt-get install xubuntu-icon-theme --assume-yes"
+  
+  #activate logon with gui and reboot
+  config.vm.provision "shell", inline: "dpkg-reconfigure lightdm"
+  config.vm.provision "shell", inline: "reboot"
+
+end

make/vagrant/vagrant_openpilot_dev/bootstrap.sh

@@ -0,0 +1,16 @@
+#!/usr/bin/env bash
+
+apt-get update
+apt-get -y upgrade
+
+# get ourselves some basic toys
+apt-get -y install git-core build-essential openssl libssl-dev 
+
+# install some tools for the vagrant user only by executing
+# a script AS the vagrant user
+cp /vagrant/install-tools.sh /home/vagrant
+chown vagrant /home/vagrant/install-tools.sh
+chgrp vagrant /home/vagrant/install-tools.sh
+chmod ug+x /home/vagrant/install-tools.sh
+su -c "/home/vagrant/install-tools.sh" vagrant
+

make/vagrant/vagrant_openpilot_dev/install-tools.sh

@@ -0,0 +1,74 @@
+#!/usr/bin/env bash
+
+ANDROID_ENV=true
+ANDROID_STUDIO_VERSION=1.1.0
+ANDROID_STUDIO_BUILD=135.1740770
+ANDROID_STUDIO_FILE=android-studio-ide-$ANDROID_STUDIO_BUILD-linux.zip
+
+ANDROID_SDK_VERSION=r24.1.2
+ANDROID_SDK_FILE=android-sdk_$ANDROID_SDK_VERSION-linux.tgz
+ANDROID_SDK_URL=http://dl.google.com/android/${ANDROID_SDK_FILE}
+ANDROID_API_LEVELS=android-20,android-21,android-22
+ANDROID_BUILD_TOOLS_VERSION=21.1.2
+
+sudo apt-get -y install curl build-essential gdb wget \
+debhelper p7zip-full unzip flex bison libsdl1.2-dev libudev-dev libusb-1.0-0-dev libc6-i386
+
+
+if [ "$ANDROID_ENV" = "true" ]; then
+
+	# install java7
+	sudo echo "deb http://ppa.launchpad.net/webupd8team/java/ubuntu trusty main" | sudo tee /etc/apt/sources.list.d/webupd8team-java.list
+	sudo echo "deb-src http://ppa.launchpad.net/webupd8team/java/ubuntu trusty main" | sudo tee -a /etc/apt/sources.list.d/webupd8team-java.list
+	sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys EEA14886
+	sudo apt-get update
+	# accept the license agreement
+	echo oracle-java7-installer shared/accepted-oracle-license-v1-1 select true | sudo /usr/bin/debconf-set-selections
+
+	sudo apt-get -y install oracle-java7-installer
+
+	# make a place to install development tools
+	mkdir -p ~/workspace/tools
+	cd ~/workspace/tools
+
+	# download and unpack android-studio
+	wget https://dl.google.com/dl/android/studio/ide-zips/$ANDROID_STUDIO_VERSION/$ANDROID_STUDIO_FILE
+	unzip $ANDROID_STUDIO_FILE
+	rm $ANDROID_STUDIO_FILE
+
+	# create a launcher for android-studio
+	mkdir /home/vagrant/Desktop/
+	echo "[Desktop Entry]
+	Version=1.0
+	Type=Application
+	Name=Android-Studio
+	Comment=
+	Exec=/home/vagrant/workspace/tools/android-studio/bin/studio.sh
+	Icon=/home/vagrant/workspace/tools/android-studio/bin/idea.png
+	Path=/home/vagrant/workspace/tools/android-studio
+	Terminal=false
+	StartupNotify=false
+	GenericName=" >> "/home/vagrant/Desktop/Android-Studio.desktop"
+
+	chmod u+x /home/vagrant/Desktop/Android-Studio.desktop
+
+	# download android sdk
+	wget http://dl.google.com/android/$ANDROID_SDK_FILE
+	tar -zxf $ANDROID_SDK_FILE
+	rm $ANDROID_SDK_FILE
+
+	# install android sdk extras to get google libs
+	ANDROID=/home/vagrant/workspace/tools/android-sdk-linux/tools/android
+	echo y | $ANDROID update sdk --no-ui --filter extra-android-support,extra-android-m2repository,extra-google-m2repository,tools,platform-tools,${ANDROID_API_LEVELS},build-tools-${ANDROID_BUILD_TOOLS_VERSION},build-tools-20.0.0
+
+fi
+
+
+mkdir -p ~/workspace/openpilot
+cd ~/workspace/openpilot
+git clone git://git.openpilot.org/OpenPilot.git
+cd OpenPilot
+git checkout -b next origin/next
+git pull
+
+

package/winx86/openpilotgcs.nsi

@@ -1,7 +1,7 @@
 #
 # Project: OpenPilot
 # NSIS configuration file for OpenPilot GCS
-# The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2010-2014.
+# The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2010-2015.
 #
 # 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
@@ -71,7 +71,7 @@
   VIAddVersionKey "Comments" "${INSTALLER_NAME}. ${BUILD_DESCRIPTION}"
   VIAddVersionKey "CompanyName" "The OpenPilot Team, http://www.openpilot.org"
   VIAddVersionKey "LegalTrademarks" "${PRODUCT_NAME} is a trademark of The OpenPilot Team"
-  VIAddVersionKey "LegalCopyright" "© 2010-2014 The OpenPilot Team"
+  VIAddVersionKey "LegalCopyright" "© 2010-2015 The OpenPilot Team"
   VIAddVersionKey "FileDescription" "${INSTALLER_NAME}"
 
 ;--------------------------------
@@ -92,7 +92,7 @@
 ;--------------------------------
 ; Branding
 
-  BrandingText "© 2010-2014 The OpenPilot Team, http://www.openpilot.org"
+  BrandingText "© 2010-2015 The OpenPilot Team, http://www.openpilot.org"
 
   !define MUI_ICON "${NSIS_DATA_TREE}\resources\openpilot.ico"
   !define MUI_HEADERIMAGE
@@ -296,7 +296,7 @@ Section ; create uninstall info
   WriteRegStr HKCU "Software\Microsoft\Windows\CurrentVersion\Uninstall\OpenPilot" "UninstallString" '"$INSTDIR\Uninstall.exe"'
   WriteRegStr HKCU "Software\Microsoft\Windows\CurrentVersion\Uninstall\OpenPilot" "DisplayIcon" '"$INSTDIR\bin\openpilotgcs.exe"'
   WriteRegStr HKCU "Software\Microsoft\Windows\CurrentVersion\Uninstall\OpenPilot" "Publisher" "OpenPilot Team"
-  WriteRegStr HKCU "Software\Microsoft\Windows\CurrentVersion\Uninstall\OpenPilot" "DisplayVersion" "Mini Me"
+  WriteRegStr HKCU "Software\Microsoft\Windows\CurrentVersion\Uninstall\OpenPilot" "DisplayVersion" "Ragin’ Cajun"
   WriteRegStr HKCU "Software\Microsoft\Windows\CurrentVersion\Uninstall\OpenPilot" "URLInfoAbout" "http://www.openpilot.org"
   WriteRegStr HKCU "Software\Microsoft\Windows\CurrentVersion\Uninstall\OpenPilot" "HelpLink" "http://wiki.openpilot.org"
   WriteRegDWORD HKCU "Software\Microsoft\Windows\CurrentVersion\Uninstall\OpenPilot" "EstimatedSize" 100600