Merge remote-tracking branch 'upstream/next' into filnet/LP-29_osgearth_integration

# Conflicts: # ground/gcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp # ground/gcs/src/share/qml/pfd/Compass.qml # ground/gcs/src/share/qml/pfd/Info.qml # ground/gcs/src/share/qml/pfd/Panels.qml # ground/gcs/src/share/qml/pfd/VsiScale.qml # ground/gcs/src/share/qml/pfd/Warnings.qml
2025-01-19 04:52:12 +01:00 · 2015-12-08 01:22:12 +01:00 · 2015-12-08 01:22:12 +01:00 · f9694acfd1
commit f9694acfd1
parent 0efa0131e1 705201b2c2
23 changed files with 910 additions and 187 deletions
--- a/README.md
+++ b/README.md
@ -30,9 +30,10 @@ Links for the LibrePilot Project

 - [Main project web site](https://www.librepilot.org)
 - [Project forums](https://forum.librepilot.org)
+- [Software downloads](https://librepilot.atlassian.net/wiki/display/LPDOC/Downloads)
+- [Wiki](https://librepilot.atlassian.net/wiki/display/LPDOC/Welcome)
 - [Source code repository](https://bitbucket.org/librepilot)
 - [Mirror](https://github.com/librepilot)
 - [Issue tracker](https://librepilot.atlassian.net)
 - [Gitter Chat](https://gitter.im/librepilot/LibrePilot)
 - IRC: #LibrePilot on FreeNode
-
--- a/flight/modules/Telemetry/telemetry.c
+++ b/flight/modules/Telemetry/telemetry.c
@ -100,30 +100,35 @@
 #ifdef PIOS_INCLUDE_RFM22B
 #define HAS_RADIO
 #endif
+
 // 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;
+
 #ifdef HAS_RADIO
 // 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();
+#endif /* ifdef HAS_RADIO */
+
 static void updateSettings(channelContext *channel);
-#endif

 // OPLink telemetry channel
 static channelContext radioChannel;
@ -165,6 +170,7 @@ static void gcsTelemetryStatsUpdated();
 */
 int32_t TelemetryStart(void)
 {
+
 #ifdef HAS_RADIO
    // Only start the local telemetry tasks if needed
    if (localPort()) {
@ -195,6 +201,7 @@ int32_t TelemetryStart(void)
                                       localChannel.rxTaskHandle);
    }
 #endif /* ifdef HAS_RADIO */
+
    // Start the telemetry tasks associated with Radio/USB
    UAVObjIterate(&registerRadioObject);

@ -231,6 +238,7 @@ 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));
@ -283,6 +291,7 @@ int32_t TelemetryInitialize(void)
    // Reset link stats
    txErrors  = 0;
    txRetries = 0;
+
 #ifdef HAS_RADIO
    // Set channel port handlers
    localChannel.getPort = localPort;
@ -297,10 +306,14 @@ int32_t TelemetryInitialize(void)
        // Initialise UAVTalk
        localChannel.uavTalkCon = UAVTalkInitialize(&transmitLocalData);
    }
+#endif /* ifdef HAS_RADIO */

-#endif
    // Set channel port handlers
    radioChannel.getPort = radioPort;
+
+    // Set the channel port baud rate
+    updateSettings(&radioChannel);
+
    // Initialise channel
    TelemetryInitializeChannel(&radioChannel);
    // Initialise UAVTalk
@ -310,6 +323,7 @@ int32_t TelemetryInitialize(void)
 }

 MODULE_INITCALL(TelemetryInitialize, TelemetryStart);
+
 #ifdef HAS_RADIO
 /**
 * Register a new object, adds object to local list and connects the queue depending on the object's
@ -333,7 +347,8 @@ static void registerLocalObject(UAVObjHandle obj)
            EV_NONE);
    }
 }
-#endif
+#endif /* ifdef HAS_RADIO */
+
 static void registerRadioObject(UAVObjHandle obj)
 {
    if (UAVObjIsMetaobject(obj)) {
@ -459,6 +474,7 @@ static void updateObject(
        UAVObjConnectQueue(obj, channel->priorityQueue, eventMask);
    } else
 #endif /* PIOS_TELEM_PRIORITY_QUEUE */
+
    UAVObjConnectQueue(obj, channel->queue, eventMask);
 }

@ -584,6 +600,7 @@ static void telemetryTxTask(void *parameters)
        /**
         * Tries to empty the high priority queue before handling any standard priority item
         */
+
 #ifdef PIOS_TELEM_PRIORITY_QUEUE
        // empty priority queue, non-blocking
        while (xQueueReceive(channel->priorityQueue, &ev, 0) == pdTRUE) {
@ -606,6 +623,7 @@ static void telemetryTxTask(void *parameters)
            processObjEvent(channel, &ev);
        }
 #endif /* PIOS_TELEM_PRIORITY_QUEUE */
+
    }
 }

@ -650,7 +668,8 @@ static uint32_t localPort()
 {
    return PIOS_COM_TELEM_RF;
 }
-#endif
+
+#endif /* ifdef HAS_RADIO */

 /**
 * Determine the port to be used for communication on the radio channel
@ -688,7 +707,7 @@ static int32_t transmitLocalData(uint8_t *data, int32_t length)

    return -1;
 }
-#endif
+#endif /* ifdef HAS_RADIO */

 /**
 * Transmit data buffer to the radioport.
@ -811,9 +830,11 @@ static void updateTelemetryStats()

    // Get stats
    UAVTalkGetStats(radioChannel.uavTalkCon, &utalkStats, true);
+
 #ifdef HAS_RADIO
    UAVTalkAddStats(localChannel.uavTalkCon, &utalkStats, true);
 #endif
+
    // Get object data
    FlightTelemetryStatsGet(&flightStats);
    GCSTelemetryStatsGet(&gcsStats);
@ -895,7 +916,6 @@ static void updateTelemetryStats()
    }
 }

-#ifdef HAS_RADIO
 /**
 * Update the telemetry settings, called on startup.
 * FIXME: This should be in the TelemetrySettings object. But objects
@ -939,7 +959,6 @@ static void updateSettings(channelContext *channel)
    }
 }

-#endif /* ifdef HAS_RADIO */
 /**
 * @}
 * @}
--- a/ground/gcs/src/libs/utils/settingsutils.cpp
+++ b/ground/gcs/src/libs/utils/settingsutils.cpp
@ -1,13 +1,11 @@
 /**
 ******************************************************************************
 *
- * @file       settingsutils.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- *             Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
- * @brief
+ * @file       pathutils.cpp
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
+ * @brief      String utilities
+ *
 * @see        The GNU Public License (GPL) Version 3
- * @defgroup
- * @{
 *
 *****************************************************************************/
 /*
@ -26,23 +24,26 @@
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

-#include "settingsutils.h"
-
-#include <QtCore/QString>
+#include "stringutils.h"

 namespace Utils {
-QTCREATOR_UTILS_EXPORT QString settingsKey(const QString &category)
+QString toLowerCamelCase(const QString & name)
 {
-    QString rc(category);
-    const QChar underscore = QLatin1Char('_');
-    const int size = rc.size();
+    QString str = name;

-    for (int i = 0; i < size; i++) {
-        const QChar c = rc.at(i);
-        if (!c.isLetterOrNumber() && c != underscore) {
-            rc[i] = underscore;
+    for (int i = 0; i < str.length(); ++i) {
+        if (str[i].isLower() || !str[i].isLetter()) {
+            break;
+        }
+        if (i > 0 && i < str.length() - 1) {
+            // after first, look ahead one
+            if (str[i + 1].isLower()) {
+                break;
            }
        }
-    return rc;
+        str[i] = str[i].toLower();
+    }
+
+    return str;
+}
 }
-} // namespace Utils
--- a/ground/gcs/src/libs/utils/settingsutils.h
+++ b/ground/gcs/src/libs/utils/settingsutils.h
@ -1,8 +1,8 @@
 /**
 ******************************************************************************
 *
- * @file       settingsutils.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @file       stringutils.h
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
 *             Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
 * @brief
 * @see        The GNU Public License (GPL) Version 3
@ -26,15 +26,24 @@
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

-#ifndef SETTINGSTUTILS_H
-#define SETTINGSTUTILS_H
+#ifndef STRINGUTILS_H
+#define STRINGUTILS_H

 #include "utils_global.h"

-namespace Utils {
-// Create a usable settings key from a category,
-// for example Editor|C++ -> Editor_C__
-QTCREATOR_UTILS_EXPORT QString settingsKey(const QString &category);
-} // namespace Utils
+#include <QString>

-#endif // SETTINGSTUTILS_H
+namespace Utils {
+/**
+ * Convert a string to lower camel case.
+ * Handles following cases :
+ * - Property -> property
+ * - MyProperty -> myProperty
+ * - MYProperty -> myProperty
+ * - MY_Property -> my_Property
+ * - MY -> my
+ */
+QTCREATOR_UTILS_EXPORT QString toLowerCamelCase(const QString &);
+}
+
+#endif /* STRINGUTILS_H */
--- a/ground/gcs/src/libs/utils/utils.pro
+++ b/ground/gcs/src/libs/utils/utils.pro
@ -13,7 +13,7 @@ DEFINES += PLUGIN_REL_PATH=$$shell_quote(\"$$relative_path($$GCS_PLUGIN_PATH, $$

 SOURCES += \
    reloadpromptutils.cpp \
-    settingsutils.cpp \
+    stringutils.cpp \
    filesearch.cpp \
    pathchooser.cpp \
    pathlisteditor.cpp \
@ -59,6 +59,7 @@ SOURCES += \
    mustache.cpp \
    textbubbleslider.cpp

+
 SOURCES += xmlconfig.cpp

 win32 {
@ -73,7 +74,7 @@ else:SOURCES += consoleprocess_unix.cpp
 HEADERS += \
    utils_global.h \
    reloadpromptutils.h \
-    settingsutils.h \
+    stringutils.h \
    filesearch.h \
    listutils.h \
    pathchooser.h \
--- a/ground/gcs/src/plugins/config/airframe_fixedwing.ui
+++ b/ground/gcs/src/plugins/config/airframe_fixedwing.ui
@ -6,8 +6,8 @@
   <rect>
    <x>0</x>
    <y>0</y>
-    <width>880</width>
-    <height>608</height>
+    <width>920</width>
+    <height>690</height>
   </rect>
  </property>
  <property name="windowTitle">
@ -66,8 +66,8 @@
        </property>
        <property name="minimumSize">
         <size>
-          <width>10</width>
-          <height>10</height>
+          <width>250</width>
+          <height>250</height>
         </size>
        </property>
        <property name="styleSheet">
@ -130,8 +130,8 @@
        </property>
        <property name="minimumSize">
         <size>
-          <width>10</width>
-          <height>10</height>
+          <width>250</width>
+          <height>250</height>
         </size>
        </property>
        <property name="sizeIncrement">
@ -514,7 +514,7 @@ margin:1px;</string>
     <property name="title">
      <string>Output Channel Assignments</string>
     </property>
-     <layout class="QGridLayout" name="gridLayout_7" columnstretch="1,1">
+     <layout class="QGridLayout" name="gridLayout_7" columnstretch="1,1,0,0">
      <property name="leftMargin">
       <number>9</number>
      </property>
@ -538,42 +538,6 @@ margin:1px;</string>
        <property name="verticalSpacing">
         <number>6</number>
        </property>
-        <item row="0" column="0">
-         <widget class="QLabel" name="fwElevator2Label">
-          <property name="minimumSize">
-           <size>
-            <width>70</width>
-            <height>0</height>
-           </size>
-          </property>
-          <property name="styleSheet">
-           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-          </property>
-          <property name="text">
-           <string>Elevator 2</string>
-          </property>
-         </widget>
-        </item>
-        <item row="0" column="1">
-         <widget class="QComboBox" name="fwElevator2ChannelBox">
-          <property name="enabled">
-           <bool>true</bool>
-          </property>
-          <property name="sizePolicy">
-           <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-            <horstretch>0</horstretch>
-            <verstretch>0</verstretch>
-           </sizepolicy>
-          </property>
-          <property name="toolTip">
-           <string>Assign your output channel</string>
-          </property>
-         </widget>
-        </item>
        <item row="1" column="0">
         <widget class="QLabel" name="fwRudder1Label">
          <property name="minimumSize">
@ -755,8 +719,458 @@ margin:1px;</string>
          </property>
         </widget>
        </item>
+        <item row="4" column="0">
+         <widget class="QLabel" name="fwElevator2Label">
+          <property name="minimumSize">
+           <size>
+            <width>70</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="styleSheet">
+           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+          </property>
+          <property name="text">
+           <string>Elevator 2</string>
+          </property>
+         </widget>
+        </item>
+        <item row="4" column="1">
+         <widget class="QComboBox" name="fwElevator2ChannelBox">
+          <property name="enabled">
+           <bool>true</bool>
+          </property>
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="toolTip">
+           <string>Assign your output channel</string>
+          </property>
+         </widget>
+        </item>
       </layout>
      </item>
+      <item row="0" column="3" rowspan="2">
+       <layout class="QGridLayout" name="gridLayout_4" columnstretch="0,0,0,0" columnminimumwidth="0,0,0,0">
+        <property name="sizeConstraint">
+         <enum>QLayout::SetMaximumSize</enum>
+        </property>
+        <property name="leftMargin">
+         <number>0</number>
+        </property>
+        <item row="2" column="3">
+         <widget class="QComboBox" name="rcOutputCurveBoxFw2">
+          <property name="toolTip">
+           <string>Select output curve for Accessory1 RcInput</string>
+          </property>
+         </widget>
+        </item>
+        <item row="1" column="1">
+         <widget class="QComboBox" name="rcOutputChannelBoxFw1">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>0</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="toolTip">
+           <string>Select output channel for Accessory0 RcInput</string>
+          </property>
+         </widget>
+        </item>
+        <item row="1" column="0">
+         <widget class="QLabel" name="label_13">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>90</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="styleSheet">
+           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+          </property>
+          <property name="text">
+           <string>Accessory0</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="0">
+         <widget class="QLabel" name="label_5">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>90</width>
+            <height>16</height>
+           </size>
+          </property>
+          <property name="styleSheet">
+           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+          </property>
+          <property name="text">
+           <string>RC Input</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+         </widget>
+        </item>
+        <item row="2" column="0">
+         <widget class="QLabel" name="label_12">
+          <property name="minimumSize">
+           <size>
+            <width>90</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="styleSheet">
+           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+          </property>
+          <property name="text">
+           <string>Accessory1</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="1">
+         <widget class="QLabel" name="label_4">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>110</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="toolTip">
+           <string>RcOutput channels</string>
+          </property>
+          <property name="styleSheet">
+           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+          </property>
+          <property name="text">
+           <string>RC Output 1</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+         </widget>
+        </item>
+        <item row="3" column="1">
+         <widget class="QComboBox" name="rcOutputChannelBoxFw3">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>0</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="toolTip">
+           <string>Select output channel for Accessory2 RcInput</string>
+          </property>
+         </widget>
+        </item>
+        <item row="2" column="1">
+         <widget class="QComboBox" name="rcOutputChannelBoxFw2">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>0</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="toolTip">
+           <string>Select output channel for Accessory1 RcInput</string>
+          </property>
+         </widget>
+        </item>
+        <item row="3" column="0">
+         <widget class="QLabel" name="label_14">
+          <property name="minimumSize">
+           <size>
+            <width>90</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="styleSheet">
+           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+          </property>
+          <property name="text">
+           <string>Accessory2</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="3">
+         <widget class="QLabel" name="label_15">
+          <property name="minimumSize">
+           <size>
+            <width>90</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="toolTip">
+           <string>RcOutput curve</string>
+          </property>
+          <property name="styleSheet">
+           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+          </property>
+          <property name="text">
+           <string>Curve</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+         </widget>
+        </item>
+        <item row="1" column="3">
+         <widget class="QComboBox" name="rcOutputCurveBoxFw1">
+          <property name="toolTip">
+           <string>Select output curve for Accessory0 RcInput</string>
+          </property>
+         </widget>
+        </item>
+        <item row="4" column="3">
+         <widget class="QComboBox" name="rcOutputCurveBoxFw4">
+          <property name="toolTip">
+           <string>Select output curve for Accessory3 RcInput</string>
+          </property>
+         </widget>
+        </item>
+        <item row="3" column="3">
+         <widget class="QComboBox" name="rcOutputCurveBoxFw3">
+          <property name="toolTip">
+           <string>Select output curve for Accessory2 RcInput</string>
+          </property>
+         </widget>
+        </item>
+        <item row="4" column="0">
+         <widget class="QLabel" name="label_16">
+          <property name="minimumSize">
+           <size>
+            <width>90</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="styleSheet">
+           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+          </property>
+          <property name="text">
+           <string>Accessory3</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+         </widget>
+        </item>
+        <item row="4" column="1">
+         <widget class="QComboBox" name="rcOutputChannelBoxFw4">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>0</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="toolTip">
+           <string>Select output channel for Accessory3 RcInput</string>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="2">
+         <widget class="QLabel" name="label_6">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>110</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="toolTip">
+           <string>RcOutput channels</string>
+          </property>
+          <property name="styleSheet">
+           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+          </property>
+          <property name="text">
+           <string>RC Output 2</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+         </widget>
+        </item>
+        <item row="1" column="2">
+         <widget class="QComboBox" name="rcOutputChannelBoxFw1_2">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>0</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="toolTip">
+           <string>Select output channel for Accessory0 RcInput</string>
+          </property>
+         </widget>
+        </item>
+        <item row="2" column="2">
+         <widget class="QComboBox" name="rcOutputChannelBoxFw2_2">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>0</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="toolTip">
+           <string>Select output channel for Accessory1 RcInput</string>
+          </property>
+         </widget>
+        </item>
+        <item row="3" column="2">
+         <widget class="QComboBox" name="rcOutputChannelBoxFw3_2">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>0</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="toolTip">
+           <string>Select output channel for Accessory2 RcInput</string>
+          </property>
+         </widget>
+        </item>
+        <item row="4" column="2">
+         <widget class="QComboBox" name="rcOutputChannelBoxFw4_2">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>0</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="toolTip">
+           <string>Select output channel for Accessory3 RcInput</string>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+      <item row="0" column="2" rowspan="2">
+       <widget class="Line" name="line">
+        <property name="orientation">
+         <enum>Qt::Vertical</enum>
+        </property>
+       </widget>
+      </item>
     </layout>
    </widget>
   </item>
--- a/ground/gcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
+++ b/ground/gcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
@ -52,6 +52,7 @@ QStringList ConfigFixedWingWidget::getChannelDescriptions()

    // get the gui config data
    GUIConfigDataUnion configData    = getConfigData();
+    fixedGUISettingsStruct fixedwing = configData.fixedwing;

    if (configData.fixedwing.FixedWingPitch1 > 0) {
        channelDesc[configData.fixedwing.FixedWingPitch1 - 1] = QString("FixedWingPitch1");
@ -74,6 +75,33 @@ QStringList ConfigFixedWingWidget::getChannelDescriptions()
    if (configData.fixedwing.FixedWingThrottle > 0) {
        channelDesc[configData.fixedwing.FixedWingThrottle - 1] = QString("FixedWingThrottle");
    }
+
+    if (fixedwing.Accessory0 > 0 && fixedwing.Accessory0 <= ConfigFixedWingWidget::CHANNEL_NUMELEM) {
+        channelDesc[fixedwing.Accessory0 - 1] = QString("Accessory0-1");
+    }
+    if (fixedwing.Accessory1 > 0 && fixedwing.Accessory1 <= ConfigFixedWingWidget::CHANNEL_NUMELEM) {
+        channelDesc[fixedwing.Accessory1 - 1] = QString("Accessory1-1");
+    }
+    if (fixedwing.Accessory2 > 0 && fixedwing.Accessory2 <= ConfigFixedWingWidget::CHANNEL_NUMELEM) {
+        channelDesc[fixedwing.Accessory2 - 1] = QString("Accessory2-1");
+    }
+    if (fixedwing.Accessory3 > 0 && fixedwing.Accessory3 <= ConfigFixedWingWidget::CHANNEL_NUMELEM) {
+        channelDesc[fixedwing.Accessory3 - 1] = QString("Accessory3-1");
+    }
+
+    if (fixedwing.Accessory0_2 > 0 && fixedwing.Accessory0_2 <= ConfigFixedWingWidget::CHANNEL_NUMELEM) {
+        channelDesc[fixedwing.Accessory0_2 - 1] = QString("Accessory0-2");
+    }
+    if (fixedwing.Accessory1_2 > 0 && fixedwing.Accessory1_2 <= ConfigFixedWingWidget::CHANNEL_NUMELEM) {
+        channelDesc[fixedwing.Accessory1_2 - 1] = QString("Accessory1-2");
+    }
+    if (fixedwing.Accessory2_2 > 0 && fixedwing.Accessory2_2 <= ConfigFixedWingWidget::CHANNEL_NUMELEM) {
+        channelDesc[fixedwing.Accessory2_2 - 1] = QString("Accessory2-2");
+    }
+    if (fixedwing.Accessory3_2 > 0 && fixedwing.Accessory3_2 <= ConfigFixedWingWidget::CHANNEL_NUMELEM) {
+        channelDesc[fixedwing.Accessory3_2 - 1] = QString("Accessory3-2");
+    }
+
    return channelDesc;
 }

@ -84,6 +112,13 @@ ConfigFixedWingWidget::ConfigFixedWingWidget(QWidget *parent) :

    populateChannelComboBoxes();

+    QStringList mixerCurveList;
+    mixerCurveList << "Curve1" << "Curve2";
+    m_aircraft->rcOutputCurveBoxFw1->addItems(mixerCurveList);
+    m_aircraft->rcOutputCurveBoxFw2->addItems(mixerCurveList);
+    m_aircraft->rcOutputCurveBoxFw3->addItems(mixerCurveList);
+    m_aircraft->rcOutputCurveBoxFw4->addItems(mixerCurveList);
+
    QStringList fixedWingTypes;
    fixedWingTypes << "Aileron" << "Elevon" << "Vtail";
    m_aircraft->fixedWingType->addItems(fixedWingTypes);
@ -238,6 +273,18 @@ void ConfigFixedWingWidget::registerWidgets(ConfigTaskWidget &parent)
    parent.addWidget(m_aircraft->elevonSlider1);
    parent.addWidget(m_aircraft->elevonSlider2);
    parent.addWidget(m_aircraft->elevonSlider3);
+    parent.addWidget(m_aircraft->rcOutputChannelBoxFw1);
+    parent.addWidget(m_aircraft->rcOutputChannelBoxFw2);
+    parent.addWidget(m_aircraft->rcOutputChannelBoxFw3);
+    parent.addWidget(m_aircraft->rcOutputChannelBoxFw4);
+    parent.addWidget(m_aircraft->rcOutputChannelBoxFw1_2);
+    parent.addWidget(m_aircraft->rcOutputChannelBoxFw2_2);
+    parent.addWidget(m_aircraft->rcOutputChannelBoxFw3_2);
+    parent.addWidget(m_aircraft->rcOutputChannelBoxFw4_2);
+    parent.addWidget(m_aircraft->rcOutputCurveBoxFw1);
+    parent.addWidget(m_aircraft->rcOutputCurveBoxFw2);
+    parent.addWidget(m_aircraft->rcOutputCurveBoxFw3);
+    parent.addWidget(m_aircraft->rcOutputCurveBoxFw4);
 }

 void ConfigFixedWingWidget::resetActuators(GUIConfigDataUnion *configData)
@ -251,6 +298,44 @@ void ConfigFixedWingWidget::resetActuators(GUIConfigDataUnion *configData)
    configData->fixedwing.FixedWingThrottle = 0;
 }

+void ConfigFixedWingWidget::resetRcOutputs(GUIConfigDataUnion *configData)
+{
+    configData->fixedwing.Accessory0   = 0;
+    configData->fixedwing.Accessory1   = 0;
+    configData->fixedwing.Accessory2   = 0;
+    configData->fixedwing.Accessory3   = 0;
+    configData->fixedwing.Accessory0_2 = 0;
+    configData->fixedwing.Accessory1_2 = 0;
+    configData->fixedwing.Accessory2_2 = 0;
+    configData->fixedwing.Accessory3_2 = 0;
+}
+
+
+void ConfigFixedWingWidget::updateRcCurvesUsed()
+{
+    UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
+
+    Q_ASSERT(mixer);
+
+    setComboCurrentIndex(m_aircraft->rcOutputCurveBoxFw1, VehicleConfig::MIXER_THROTTLECURVE1);
+    setComboCurrentIndex(m_aircraft->rcOutputCurveBoxFw2, VehicleConfig::MIXER_THROTTLECURVE1);
+    setComboCurrentIndex(m_aircraft->rcOutputCurveBoxFw3, VehicleConfig::MIXER_THROTTLECURVE1);
+    setComboCurrentIndex(m_aircraft->rcOutputCurveBoxFw4, VehicleConfig::MIXER_THROTTLECURVE1);
+
+    for (int channel = 0; channel < (int)ConfigFixedWingWidget::CHANNEL_NUMELEM; channel++) {
+        QString mixerType = getMixerType(mixer, channel);
+        if (mixerType == "Accessory0" && getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2)) {
+            setComboCurrentIndex(m_aircraft->rcOutputCurveBoxFw1, VehicleConfig::MIXER_THROTTLECURVE2);
+        } else if (mixerType == "Accessory1" && getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2)) {
+            setComboCurrentIndex(m_aircraft->rcOutputCurveBoxFw2, VehicleConfig::MIXER_THROTTLECURVE2);
+        } else if (mixerType == "Accessory2" && getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2)) {
+            setComboCurrentIndex(m_aircraft->rcOutputCurveBoxFw3, VehicleConfig::MIXER_THROTTLECURVE2);
+        } else if (mixerType == "Accessory3" && getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2)) {
+            setComboCurrentIndex(m_aircraft->rcOutputCurveBoxFw4, VehicleConfig::MIXER_THROTTLECURVE2);
+        }
+    }
+}
+
 /**
   Virtual function to refresh the UI widget values
 */
@ -287,6 +372,18 @@ void ConfigFixedWingWidget::refreshWidgetsValues(QString frameType)
    setComboCurrentIndex(m_aircraft->fwRudder1ChannelBox, fixed.FixedWingYaw1);
    setComboCurrentIndex(m_aircraft->fwRudder2ChannelBox, fixed.FixedWingYaw2);

+    setComboCurrentIndex(m_aircraft->rcOutputChannelBoxFw1, fixed.Accessory0);
+    setComboCurrentIndex(m_aircraft->rcOutputChannelBoxFw2, fixed.Accessory1);
+    setComboCurrentIndex(m_aircraft->rcOutputChannelBoxFw3, fixed.Accessory2);
+    setComboCurrentIndex(m_aircraft->rcOutputChannelBoxFw4, fixed.Accessory3);
+
+    setComboCurrentIndex(m_aircraft->rcOutputChannelBoxFw1_2, fixed.Accessory0_2);
+    setComboCurrentIndex(m_aircraft->rcOutputChannelBoxFw2_2, fixed.Accessory1_2);
+    setComboCurrentIndex(m_aircraft->rcOutputChannelBoxFw3_2, fixed.Accessory2_2);
+    setComboCurrentIndex(m_aircraft->rcOutputChannelBoxFw4_2, fixed.Accessory3_2);
+
+    updateRcCurvesUsed();
+
    // Get mixing values for GUI sliders (values stored onboard)
    m_aircraft->elevonSlider3->setValue(getMixerValue(mixer, "RollDifferential"));
    if (frameType == "FixedWingElevon" || frameType == "Elevon") {
@ -310,6 +407,13 @@ QString ConfigFixedWingWidget::updateConfigObjectsFromWidgets()

    Q_ASSERT(mixer);

+    // Reset all Mixers type
+    resetAllMixersType(mixer);
+
+    QList<QString> rcOutputList;
+    rcOutputList << "Accessory0" << "Accessory1" << "Accessory2" << "Accessory3";
+    setupRcOutputs(rcOutputList);
+
    // Set the throttle curve
    setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->fixedWingThrottle->getCurve());

@ -580,6 +684,118 @@ bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
    return true;
 }

+/**
+   Helper function: setup rc outputs. Takes a list of channel names in input.
+ */
+void ConfigFixedWingWidget::setupRcOutputs(QList<QString> rcOutputList)
+{
+    QList<QComboBox *> rcList;
+    rcList << m_aircraft->rcOutputChannelBoxFw1 << m_aircraft->rcOutputChannelBoxFw2
+           << m_aircraft->rcOutputChannelBoxFw3 << m_aircraft->rcOutputChannelBoxFw4;
+
+    QList<QComboBox *> rcList2;
+    rcList2 << m_aircraft->rcOutputChannelBoxFw1_2 << m_aircraft->rcOutputChannelBoxFw2_2
+            << m_aircraft->rcOutputChannelBoxFw3_2 << m_aircraft->rcOutputChannelBoxFw4_2;
+
+    GUIConfigDataUnion configData = getConfigData();
+    resetRcOutputs(&configData);
+
+    UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject("MixerSettings"));
+    Q_ASSERT(mixer);
+
+    int curveAccessory0  = m_aircraft->rcOutputCurveBoxFw1->currentIndex();
+    int curveAccessory1  = m_aircraft->rcOutputCurveBoxFw2->currentIndex();
+    int curveAccessory2  = m_aircraft->rcOutputCurveBoxFw3->currentIndex();
+    int curveAccessory3  = m_aircraft->rcOutputCurveBoxFw4->currentIndex();
+
+    foreach(QString rc_output, rcOutputList) {
+        int index  = rcList.takeFirst()->currentIndex();
+        int index2 = rcList2.takeFirst()->currentIndex();
+
+        if (rc_output == "Accessory0") {
+            // First output for Accessory0
+            configData.fixedwing.Accessory0 = index;
+            if (index) {
+                setMixerType(mixer, index - 1, VehicleConfig::MIXERTYPE_ACCESSORY0);
+                if (curveAccessory0) {
+                    setMixerVectorValue(mixer, index - 1, VehicleConfig::MIXERVECTOR_THROTTLECURVE2, 127);
+                } else {
+                    setMixerVectorValue(mixer, index - 1, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
+                }
+            }
+            // Second output for Accessory0
+            configData.fixedwing.Accessory0_2 = index2;
+            if (index2) {
+                setMixerType(mixer, index2 - 1, VehicleConfig::MIXERTYPE_ACCESSORY0);
+                if (curveAccessory0) {
+                    setMixerVectorValue(mixer, index2 - 1, VehicleConfig::MIXERVECTOR_THROTTLECURVE2, 127);
+                } else {
+                    setMixerVectorValue(mixer, index2 - 1, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
+                }
+            }
+        } else if (rc_output == "Accessory1") {
+            configData.fixedwing.Accessory1   = index;
+            configData.fixedwing.Accessory1_2 = index2;
+            if (index) {
+                setMixerType(mixer, index - 1, VehicleConfig::MIXERTYPE_ACCESSORY1);
+                if (curveAccessory1) {
+                    setMixerVectorValue(mixer, index - 1, VehicleConfig::MIXERVECTOR_THROTTLECURVE2, 127);
+                } else {
+                    setMixerVectorValue(mixer, index - 1, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
+                }
+            }
+            if (index2) {
+                setMixerType(mixer, index2 - 1, VehicleConfig::MIXERTYPE_ACCESSORY1);
+                if (curveAccessory1) {
+                    setMixerVectorValue(mixer, index2 - 1, VehicleConfig::MIXERVECTOR_THROTTLECURVE2, 127);
+                } else {
+                    setMixerVectorValue(mixer, index2 - 1, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
+                }
+            }
+        } else if (rc_output == "Accessory2") {
+            configData.fixedwing.Accessory2   = index;
+            configData.fixedwing.Accessory2_2 = index2;
+            if (index) {
+                setMixerType(mixer, index - 1, VehicleConfig::MIXERTYPE_ACCESSORY2);
+                if (curveAccessory2) {
+                    setMixerVectorValue(mixer, index - 1, VehicleConfig::MIXERVECTOR_THROTTLECURVE2, 127);
+                } else {
+                    setMixerVectorValue(mixer, index - 1, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
+                }
+            }
+            if (index2) {
+                setMixerType(mixer, index2 - 1, VehicleConfig::MIXERTYPE_ACCESSORY2);
+                if (curveAccessory2) {
+                    setMixerVectorValue(mixer, index2 - 1, VehicleConfig::MIXERVECTOR_THROTTLECURVE2, 127);
+                } else {
+                    setMixerVectorValue(mixer, index2 - 1, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
+                }
+            }
+        } else if (rc_output == "Accessory3") {
+            configData.fixedwing.Accessory3   = index;
+            configData.fixedwing.Accessory3_2 = index2;
+            if (index) {
+                setMixerType(mixer, index - 1, VehicleConfig::MIXERTYPE_ACCESSORY3);
+                if (curveAccessory3) {
+                    setMixerVectorValue(mixer, index - 1, VehicleConfig::MIXERVECTOR_THROTTLECURVE2, 127);
+                } else {
+                    setMixerVectorValue(mixer, index - 1, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
+                }
+            }
+            if (index2) {
+                setMixerType(mixer, index2 - 1, VehicleConfig::MIXERTYPE_ACCESSORY3);
+                if (curveAccessory3) {
+                    setMixerVectorValue(mixer, index2 - 1, VehicleConfig::MIXERVECTOR_THROTTLECURVE2, 127);
+                } else {
+                    setMixerVectorValue(mixer, index2 - 1, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
+                }
+            }
+        }
+    }
+    setConfigData(configData);
+}
+
+
 void ConfigFixedWingWidget::enableControls(bool enable)
 {
    ConfigTaskWidget::enableControls(enable);
@ -648,6 +864,44 @@ bool ConfigFixedWingWidget::throwConfigError(QString airframeType)
            channelNames += (combobox->currentText() == "None") ? "" : combobox->currentText();
        }
    }
+
+    // Iterate through all instances of rcOutputChannelBoxFw
+    for (int i = 0; i < 5; i++) {
+        // Find widgets with his name "rcOutputChannelBoxFw.x", where x is an integer
+        QComboBox *combobox = this->findChild<QComboBox *>("rcOutputChannelBoxFw" + QString::number(i + 1));
+        if (combobox) {
+            if (channelNames.contains(combobox->currentText(), Qt::CaseInsensitive)) {
+                int size = combobox->style()->pixelMetric(QStyle::PM_SmallIconSize);
+                QPixmap pixmap(size, size);
+                pixmap.fill(QColor("orange"));
+                combobox->setItemData(combobox->currentIndex(), pixmap, Qt::DecorationRole); // Set color palettes
+                combobox->setToolTip(tr("Channel already used"));
+            } else {
+                for (int index = 0; index < (int)ConfigFixedWingWidget::CHANNEL_NUMELEM; index++) {
+                    combobox->setItemData(index, 0, Qt::DecorationRole); // Reset all color palettes
+                    combobox->setToolTip(tr("Select first output channel for Accessory%1 RcInput").arg(i));
+                }
+            }
+            channelNames += (combobox->currentText() == "None") ? "" : combobox->currentText();
+        }
+        // Find duplicates in second output comboboxes
+        QComboBox *combobox2 = this->findChild<QComboBox *>("rcOutputChannelBoxFw" + QString::number(i + 1) + "_2");
+        if (combobox2) {
+            if (channelNames.contains(combobox2->currentText(), Qt::CaseInsensitive)) {
+                int size = combobox2->style()->pixelMetric(QStyle::PM_SmallIconSize);
+                QPixmap pixmap(size, size);
+                pixmap.fill(QColor("orange"));
+                combobox2->setItemData(combobox2->currentIndex(), pixmap, Qt::DecorationRole); // Set color palettes
+                combobox2->setToolTip(tr("Channel already used"));
+            } else {
+                for (int index = 0; index < (int)ConfigFixedWingWidget::CHANNEL_NUMELEM; index++) {
+                    combobox2->setItemData(index, 0, Qt::DecorationRole); // Reset all color palettes
+                    combobox2->setToolTip(tr("Select second output channel for Accessory%1 RcInput").arg(i));
+                }
+            }
+            channelNames += (combobox2->currentText() == "None") ? "" : combobox2->currentText();
+        }
+    }
    return error;
 }

--- a/ground/gcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.h
+++ b/ground/gcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.h
@ -58,10 +58,13 @@ private:

    virtual void registerWidgets(ConfigTaskWidget &parent);
    virtual void resetActuators(GUIConfigDataUnion *configData);
+    virtual void resetRcOutputs(GUIConfigDataUnion *configData);

    bool setupFrameFixedWing(QString airframeType);
    bool setupFrameElevon(QString airframeType);
    bool setupFrameVtail(QString airframeType);
+    void setupRcOutputs(QList<QString> rcOutputList);
+    void updateRcCurvesUsed();

 protected:
    void enableControls(bool enable);
--- a/ground/gcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
+++ b/ground/gcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
@ -373,18 +373,6 @@ void ConfigMultiRotorWidget::resetRcOutputs(GUIConfigDataUnion *configData)
    configData->multi.Accessory3 = 0;
 }

-void ConfigMultiRotorWidget::resetMixers()
-{
-    UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
-
-    Q_ASSERT(mixer);
-
-    for (int channel = 0; channel < (int)ConfigMultiRotorWidget::CHANNEL_NUMELEM; channel++) {
-        resetMixerVector(mixer, channel);
-        setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_DISABLED);
-    }
-}
-
 void ConfigMultiRotorWidget::updateRcCurvesUsed()
 {
    UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
@ -545,8 +533,8 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()

    Q_ASSERT(mixer);

-    // Reset all Mixers
-    resetMixers();
+    // Reset all Mixers types
+    resetAllMixersType(mixer);

    QList<QString> rcOutputList;
    rcOutputList << "Accessory0" << "Accessory1" << "Accessory2" << "Accessory3";
--- a/ground/gcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h
+++ b/ground/gcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h
@ -73,7 +73,6 @@ private:
    bool setupMultiRotorMixer(double mixerFactors[8][3]);
    void setupMotors(QList<QString> motorList);
    void setupRcOutputs(QList<QString> rcOutputList);
-    void resetMixers();
    void setupQuadMotor(int channel, double roll, double pitch, double yaw);

    void setYawMixLevel(int);
--- a/ground/gcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
+++ b/ground/gcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
@ -232,6 +232,15 @@ void VehicleConfig::resetMotorAndServoMixers(UAVDataObject *mixer)
    }
 }

+// Disable all mixers types
+void VehicleConfig::resetAllMixersType(UAVDataObject *mixer)
+{
+    for (int channel = 0; channel < (int)VehicleConfig::CHANNEL_NUMELEM; channel++) {
+        resetMixerVector(mixer, channel);
+        setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_DISABLED);
+    }
+}
+
 double VehicleConfig::getMixerVectorValue(UAVDataObject *mixer, int channel, MixerVectorElem elementName)
 {
    Q_ASSERT(mixer);
--- a/ground/gcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
+++ b/ground/gcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
@ -89,10 +89,17 @@ typedef struct {
    uint    FixedWingPitch2 : 4;
    uint    FixedWingYaw1 : 4;
    uint    FixedWingYaw2 : 4;
-    uint    padding : 4; // 32 bits
+    uint    Accessory0 : 4;  // 32 bits
+    uint    Accessory1 : 4;
+    uint    Accessory2 : 4;
+    uint    Accessory3 : 4;
+    uint    Accessory0_2 : 4;
+    uint    Accessory1_2 : 4;
+    uint    Accessory2_2 : 4;
+    uint    Accessory3_2 : 4;
+    quint32 padding : 4; // 64bits
    quint32 padding1;
-    quint32 padding2;
-    quint32 padding3; // 128 bits
+    quint32 padding2; // 128 bits
 } __attribute__((packed))  fixedGUISettingsStruct;

 typedef struct {
@ -228,6 +235,7 @@ protected:
    void    setMixerVectorValue(UAVDataObject *mixer, int channel, MixerVectorElem elementName, double value);
    void    resetMixerVector(UAVDataObject *mixer, int channel);
    void    resetMotorAndServoMixers(UAVDataObject *mixer);
+    void    resetAllMixersType(UAVDataObject *mixer);
    QString getMixerType(UAVDataObject *mixer, int channel);
    void    setMixerType(UAVDataObject *mixer, int channel, MixerTypeElem mixerType);
    void    setThrottleCurve(UAVDataObject *mixer, MixerThrottleCurveElem curveType, QList<double> curve);
--- a/ground/gcs/src/plugins/config/configinputwidget.cpp
+++ b/ground/gcs/src/plugins/config/configinputwidget.cpp
@ -1645,6 +1645,46 @@ void ConfigInputWidget::moveFMSlider()
        pos = manualSettingsDataPriv.FlightModeNumber - 1;
    }
    ui->fmsSlider->setValue(pos);
+    highlightStabilizationMode(pos);
+}
+
+void ConfigInputWidget::highlightStabilizationMode(int pos)
+{
+    QComboBox *comboboxFm    = this->findChild<QComboBox *>("fmsModePos" + QString::number(pos + 1));
+    QString customStyleSheet = "QComboBox:editable:!on{background: #feb103;}";
+
+    if (comboboxFm) {
+        QString flightModeText = comboboxFm->currentText();
+        comboboxFm->setStyleSheet("");
+        for (uint8_t i = 0; i < FlightModeSettings::FLIGHTMODEPOSITION_NUMELEM; i++) {
+            QLabel *label = this->findChild<QLabel *>("stab" + QString::number(i + 1) + "_label");
+            QComboBox *comboRoll   = this->findChild<QComboBox *>("fmsSsPos" + QString::number(i + 1) + "Roll");
+            QComboBox *comboPitch  = this->findChild<QComboBox *>("fmsSsPos" + QString::number(i + 1) + "Pitch");
+            QComboBox *comboYaw    = this->findChild<QComboBox *>("fmsSsPos" + QString::number(i + 1) + "Yaw");
+            QComboBox *comboThrust = this->findChild<QComboBox *>("fmsSsPos" + QString::number(i + 1) + "Thrust");
+            QComboBox *comboboxFm2 = this->findChild<QComboBox *>("fmsModePos" + QString::number(i + 1));
+            comboboxFm2->setStyleSheet("");
+
+            // Highlight current stabilization mode if any.
+            if ((flightModeText.contains("Stabilized", Qt::CaseInsensitive)) && (flightModeText.contains(QString::number(i + 1), Qt::CaseInsensitive))) {
+                label->setStyleSheet("border-radius: 4px; border:3px solid #feb103;");
+                comboRoll->setStyleSheet(customStyleSheet);
+                comboPitch->setStyleSheet(customStyleSheet);
+                comboYaw->setStyleSheet(customStyleSheet);
+                comboThrust->setStyleSheet(customStyleSheet);
+            } else {
+                label->setStyleSheet("");
+                comboRoll->setStyleSheet("");
+                comboPitch->setStyleSheet("");
+                comboYaw->setStyleSheet("");
+                comboThrust->setStyleSheet("");
+                if (!flightModeText.contains("Stabilized", Qt::CaseInsensitive)) {
+                    // Highlight PosHold, Return to Base, ... flightmodes
+                    comboboxFm->setStyleSheet(customStyleSheet);
+                }
+            }
+        }
+    }
 }

 void ConfigInputWidget::updatePositionSlider()
--- a/ground/gcs/src/plugins/config/configinputwidget.h
+++ b/ground/gcs/src/plugins/config/configinputwidget.h
@ -202,6 +202,8 @@ private:
    AccessoryDesired *getAccessoryDesiredInstance(int instance);
    float getAccessoryDesiredValue(int instance);

+    void highlightStabilizationMode(int pos);
+
 private slots:
    void wzNext();
    void wzNextDelayed();
--- a/ground/gcs/src/plugins/config/images/fixedwing-shapes.svg
+++ b/ground/gcs/src/plugins/config/images/fixedwing-shapes.svg
@ -487,13 +487,13 @@
     inkscape:window-height="928"
     id="namedview4099"
     showgrid="false"
-     inkscape:zoom="1.0458791"
-     inkscape:cx="384.95499"
-     inkscape:cy="955.071"
+     inkscape:zoom="2.0917582"
+     inkscape:cx="391.2913"
+     inkscape:cy="1188.8255"
     inkscape:window-x="0"
     inkscape:window-y="27"
     inkscape:window-maximized="1"
-     inkscape:current-layer="elevon"
+     inkscape:current-layer="aileron-frame"
     showborder="true"
     inkscape:showpageshadow="false"
     inkscape:object-paths="true"
@ -767,32 +767,7 @@
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-               inkscape:connector-curvature="0" /></g></g></g><g
-         transform="translate(0.31998545,1013.9245)"
-         id="aileron-rudder-top"
-         style="fill:#ffffff;fill-opacity:1"><path
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-           y2="801.84399"
-           x2="400.82199"
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-           x1="395.849"
-           stroke-miterlimit="10"
-           style="fill:#ffffff;fill-opacity:1;stroke:#000000;stroke-width:0.51120001;stroke-miterlimit:10" /></g><rect
+               inkscape:connector-curvature="0" /></g></g></g><rect
         style="fill:url(#linearGradient9561);fill-opacity:1;stroke:#010101;stroke-width:0.69120002;stroke-linecap:round;stroke-linejoin:round"
         x="316.569"
         y="1874.4409"
@ -1416,7 +1391,32 @@
           d="M 231.089,661.657 V 636.359"
           id="path8516_1_"
           inkscape:connector-curvature="0"
-           style="fill:none;stroke:#010101;stroke-width:0.69520003;stroke-linecap:round;stroke-linejoin:round" /></g></g></g><g
+           style="fill:none;stroke:#010101;stroke-width:0.69520003;stroke-linecap:round;stroke-linejoin:round" /></g><g
+         transform="translate(0.31998545,1013.9245)"
+         id="aileron-rudder-top"
+         style="fill:#ffffff;fill-opacity:1"><path
+           id="path3769"
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+           y2="801.84399"
+           x2="400.82199"
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+           x1="395.849"
+           stroke-miterlimit="10"
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     id="vtail"><g
       transform="translate(22.636675,7.8126685)"
       id="vtail-frame"><path
--- a/ground/gcs/src/plugins/config/input.ui
+++ b/ground/gcs/src/plugins/config/input.ui
@ -752,62 +752,62 @@ font:bold;</string>
                  <number>1</number>
                 </property>
                 <item>
-                  <widget class="QLabel" name="label_14">
+                  <widget class="QLabel" name="stab1_label">
                   <property name="text">
                    <string>Stabilized 1</string>
                   </property>
                   <property name="alignment">
-                    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+                    <set>Qt::AlignCenter</set>
                   </property>
                  </widget>
                 </item>
                 <item>
-                  <widget class="QLabel" name="label_21">
+                  <widget class="QLabel" name="stab2_label">
                   <property name="text">
                    <string>Stabilized 2</string>
                   </property>
                   <property name="alignment">
-                    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+                    <set>Qt::AlignCenter</set>
                   </property>
                  </widget>
                 </item>
                 <item>
-                  <widget class="QLabel" name="label_22">
+                  <widget class="QLabel" name="stab3_label">
                   <property name="text">
                    <string>Stabilized 3</string>
                   </property>
                   <property name="alignment">
-                    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+                    <set>Qt::AlignCenter</set>
                   </property>
                  </widget>
                 </item>
                 <item>
-                  <widget class="QLabel" name="label_114">
+                  <widget class="QLabel" name="stab4_label">
                   <property name="text">
                    <string>Stabilized 4</string>
                   </property>
                   <property name="alignment">
-                    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+                    <set>Qt::AlignCenter</set>
                   </property>
                  </widget>
                 </item>
                 <item>
-                  <widget class="QLabel" name="label_121">
+                  <widget class="QLabel" name="stab5_label">
                   <property name="text">
                    <string>Stabilized 5</string>
                   </property>
                   <property name="alignment">
-                    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+                    <set>Qt::AlignCenter</set>
                   </property>
                  </widget>
                 </item>
                 <item>
-                  <widget class="QLabel" name="label_122">
+                  <widget class="QLabel" name="stab6_label">
                   <property name="text">
                    <string>Stabilized 6</string>
                   </property>
                   <property name="alignment">
-                    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+                    <set>Qt::AlignCenter</set>
                   </property>
                  </widget>
                 </item>
--- a/ground/gcs/src/plugins/pfdqml/pfdqmlcontext.cpp
+++ b/ground/gcs/src/plugins/pfdqml/pfdqmlcontext.cpp
@ -30,41 +30,12 @@
 #include "extensionsystem/pluginmanager.h"
 #include "uavobjectmanager.h"
 #include "uavobject.h"
+#include "utils/stringutils.h"
 #include "flightbatterysettings.h"

 #include <QQmlContext>
 #include <QDebug>

-/*
- * Convert a string to lower camel case.
- * Handles following cases :
- * - Property -> property
- * - MyProperty -> myProperty
- * - MYProperty -> myProperty
- * - MY_Property -> my_Property
- * - MY -> my
- */
-// TODO move to some utility class
-QString toLowerCamelCase(const QString & name)
-{
-    QString str = name;
-
-    for (int i = 0; i < str.length(); ++i) {
-        if (str[i].isLower() || !str[i].isLetter()) {
-            break;
-        }
-        if (i > 0 && i < str.length() - 1) {
-            // after first, look ahead one
-            if (str[i + 1].isLower()) {
-                break;
-            }
-        }
-        str[i] = str[i].toLower();
-    }
-
-    return str;
-}
-
 PfdQmlContext::PfdQmlContext(QObject *parent) : QObject(parent),
    m_speedUnit("m/s"),
    m_speedFactor(1.0),
@ -350,7 +321,7 @@ void PfdQmlContext::apply(QQmlContext *context)

        if (object) {
            // expose object with lower camel case name
-            context->setContextProperty(toLowerCamelCase(objectName), object);
+            context->setContextProperty(Utils::toLowerCamelCase(objectName), object);
        } else {
            qWarning() << "PfdQmlContext::apply - failed to load object" << objectName;
        }
--- a/ground/gcs/src/share/qml/pfd/Compass.qml
+++ b/ground/gcs/src/share/qml/pfd/Compass.qml
@ -71,8 +71,7 @@ Item {
        rotation: -attitudeState.yaw + course_degrees
        transformOrigin: Item.Center

-        // FIXME : why test endEast twice?
-        visible: ((pathDesired.endEast != 0.0) && (pathDesired.endEast != 0.0))
+        visible: ((pathDesired.endEast != 0.0) && (pathDesired.endNorth != 0.0))
    }

    Item {
--- a/ground/gcs/src/share/qml/pfd/Info.qml
+++ b/ground/gcs/src/share/qml/pfd/Info.qml
@ -3,9 +3,9 @@ import QtQuick 2.4
 import UAVTalk.HwSettings 1.0
 import UAVTalk.SystemAlarms 1.0
 import UAVTalk.VelocityState 1.0
-import UAVTalk.TakeOffLocation 1.0
 import UAVTalk.PathDesired 1.0
 import UAVTalk.WaypointActive 1.0
+import UAVTalk.TakeOffLocation 1.0 as TakeOffLocation
 import UAVTalk.GPSPositionSensor 1.0 as GPSPositionSensor
 import UAVTalk.GPSSatellites 1.0
 import UAVTalk.FlightBatterySettings 1.0
@ -479,7 +479,7 @@ Item {

        states: State {
             name: "fading"
-             when: (takeOffLocation.status == Status.Valid)
+             when: (takeOffLocation.status == TakeOffLocation.Status.Valid)
             PropertyChanges { target: home_bg; x: Math.floor(scaledBounds.x * sceneItem.width) - home_bg.width; }
        }

@ -500,7 +500,7 @@ Item {

        states: State {
             name: "fading_heading"
-             when: (takeOffLocation.status == Status.Valid)
+             when: (takeOffLocation.status == TakeOffLocation.Status.Valid)
             PropertyChanges { target: home_heading_text; x: Math.floor(scaledBounds.x * sceneItem.width) - home_bg.width; }
        }

@ -531,7 +531,7 @@ Item {

        states: State {
             name: "fading_distance"
-             when: (takeOffLocation.status == Status.Valid)
+             when: (takeOffLocation.status == TakeOffLocation.Status.Valid)
             PropertyChanges { target: home_distance_text; x: Math.floor(scaledBounds.x * sceneItem.width) - home_bg.width; }
        }

@ -562,7 +562,7 @@ Item {

        states: State {
             name: "fading_distance"
-             when: (takeOffLocation.status == Status.Valid)
+             when: (takeOffLocation.status == TakeOffLocation.Status.Valid)
             PropertyChanges { target: home_eta_text; x: Math.floor(scaledBounds.x * sceneItem.width) - home_bg.width; }
        }

--- a/ground/gcs/src/share/qml/pfd/Panels.qml
+++ b/ground/gcs/src/share/qml/pfd/Panels.qml
@ -101,8 +101,7 @@ Item {
    // Hack : check if telemetry is active. Works with real link and log replay

    function telemetry_check() {
-       // FIXME : why rxRate + rxRate?
-       telemetry_sum = opLinkStatus.rxRate + opLinkStatus.rxRate
+       telemetry_sum = opLinkStatus.rxRate + opLinkStatus.txRate

       if (telemetry_sum != telemetry_sum_old || (opLinkStatus.linkState == LinkState.Connected)) {
           telemetry_link = 1
--- a/package/linux/deb.mk
+++ b/package/linux/deb.mk
@ -8,6 +8,7 @@ DEB_REV              := 0$(DEB_DIST)1
 endif
 DEB_NAME             := $(ORG_SMALL_NAME)
 DEB_ORIG_SRC         := $(PACKAGE_DIR)/$(DEB_NAME)_$(UPSTREAM_VER).orig.tar.gz
+DEB_ORIG_FW          := $(PACKAGE_DIR)/$(DEB_NAME)_$(UPSTREAM_VER).orig-firmware.tar.gz
 DEB_PACKAGE_DIR      := $(PACKAGE_DIR)/$(DEB_NAME)-$(UPSTREAM_VER)
 DEB_ARCH             := $(shell dpkg --print-architecture)
 DEB_PACKAGE_NAME     := $(DEB_NAME)_$(UPSTREAM_VER)-$(DEB_REV)_$(DEB_ARCH)
@ -39,6 +40,7 @@ PACKAGE_DEPS_SED     := s/python.*/python/;s/{misc:Depends}.*/{misc:Depends}/;
 package: debian
 	@$(ECHO) "Building Linux package, please wait..."
 	$(V1) sed -i -e "$(PACKAGE_DEPS_SED)" debian/control
+	$(V1) sed -i -e 's/WITH_PREBUILT.*firmware//' debian/rules
 	$(V1) dpkg-buildpackage -b -us -uc -nc
 	$(V1) mv $(ROOT_DIR)/../$(DEB_PACKAGE_NAME).deb $(BUILD_DIR)
 	$(V1) mv $(ROOT_DIR)/../$(DEB_PACKAGE_NAME).changes $(BUILD_DIR)
@ -61,8 +63,12 @@ package_src:  $(DEB_ORIG_SRC_NAME) $(DEB_PACKAGE_DIR)
 $(DEB_ORIG_SRC): $(DIST_TAR_GZ) | $(PACKAGE_DIR)
 	$(V1) cp $(DIST_TAR_GZ) $(DEB_ORIG_SRC)

-$(DEB_PACKAGE_DIR): $(DEB_ORIG_SRC) debian | $(PACKAGE_DIR)
+$(DEB_ORIG_FW): $(FW_DIST_TAR_GZ) | $(PACKAGE_DIR)
+	$(V1) cp $(FW_DIST_TAR_GZ) $(DEB_ORIG_FW)
+
+$(DEB_PACKAGE_DIR): $(DEB_ORIG_SRC) $(DEB_ORIG_FW) debian | $(PACKAGE_DIR)
 	$(V1) tar -xf $(DEB_ORIG_SRC) -C $(PACKAGE_DIR)
+	$(V1) tar -xf $(DEB_ORIG_FW) -C $(PACKAGE_DIR)/$(PACKAGE_NAME)
 	$(V1) mv debian $(PACKAGE_DIR)/$(PACKAGE_NAME)
 	$(V1) rm -rf $(DEB_PACKAGE_DIR) && mv $(PACKAGE_DIR)/$(PACKAGE_NAME) $(DEB_PACKAGE_DIR)

--- a/package/linux/debian/control
+++ b/package/linux/debian/control
@ -2,7 +2,7 @@ Source: <NAME>
 Section: electronics
 Priority: optional
 Maintainer: The LibrePilot Project <<EMAIL>>
-Build-Depends: debhelper (>= 9), libudev-dev, libusb-1.0-0-dev, libsdl1.2-dev, python, gcc-arm-none-eabi (>=4.9), qt5-default, qttools5-dev-tools, libqt5svg5-dev, qtdeclarative5-dev, qml-module-qtquick-controls, libqt5serialport5-dev, qtmultimedia5-dev, qtscript5-dev, libqt5opengl5-dev
+Build-Depends: debhelper (>= 9), libudev-dev, libusb-1.0-0-dev, libsdl1.2-dev, python, qt5-default, qttools5-dev-tools, libqt5svg5-dev, qtdeclarative5-dev, qml-module-qtquick-controls, libqt5serialport5-dev, qtmultimedia5-dev, qtscript5-dev, libqt5opengl5-dev
 Standards-Version: 3.9.5
 Homepage: <URL>
 Vcs-Git: <GIT_URL>
--- a/package/linux/debian/rules
+++ b/package/linux/debian/rules
@ -12,7 +12,7 @@ export DH_OPTIONS
 	dh $@ 

 override_dh_auto_build:
-	dh_auto_build -- opfw_resource gcs
+	dh_auto_build -- WITH_PREBUILT_FW=$(CURDIR)/firmware opfw_resource gcs

 override_dh_auto_install:
 	dh_auto_install -- prefix=/usr