OP-4 GCS/Telemetry Create new objects to report statistics of the telemetry link (plus a few bug fixes, heap size was also increased)

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@516 ebee16cc-31ac-478f-84a7-5cbb03baadba

ground/src/libs/uavobjgenerator/uavobjectgenerator.cpp

@@ -113,7 +113,7 @@ bool UAVObjectGenerator::processAll()
             sout << "Generating code for object: " << name << endl;
             // Check for object ID conflicts
             quint32 id = parser->getObjectID(objidx);
-            if ( objIDList.contains(id) )
+            if ( objIDList.contains(id) || id == 0 )
             {
                 sout << "Error: Object ID collision found in object " << name << ", modify object name" << endl;
                 return false;

ground/src/plugins/uavobjects/flighttelemetrystats.cpp

@@ -0,0 +1,87 @@
+/**
+ ******************************************************************************
+ *
+ * @file       flighttelemetrystats.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the FlightTelemetryStats object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: flighttelemetrystats.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#include "flighttelemetrystats.h"
+#include "uavobjectfields.h"
+
+const QString FlightTelemetryStats::NAME = QString("FlightTelemetryStats");
+
+FlightTelemetryStats::FlightTelemetryStats(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
+{
+    // Create fields
+    QList<UAVObjectField*> fields;
+    QStringList ConnectedEnumOptions;
+    ConnectedEnumOptions.append("True");
+    ConnectedEnumOptions.append("False");
+    fields.append(new UAVObjectFieldEnum(QString("Connected"), QString("bool"), 1, ConnectedEnumOptions));
+    fields.append(new UAVObjectFieldFloat(QString("TxDataRate"), QString("bytes/sec"), 1));
+    fields.append(new UAVObjectFieldFloat(QString("RxDataRate"), QString("bytes/sec"), 1));
+    fields.append(new UAVObjectFieldUInt32(QString("TxFailures"), QString("count"), 1));
+    fields.append(new UAVObjectFieldUInt32(QString("RxFailures"), QString("count"), 1));
+    fields.append(new UAVObjectFieldUInt32(QString("TxRetries"), QString("count"), 1));
+
+    // Initialize object
+    initializeFields(fields, (quint8*)&data, NUMBYTES);
+}
+
+UAVObject::Metadata FlightTelemetryStats::getDefaultMetadata()
+{
+    UAVObject::Metadata metadata;
+    metadata.gcsTelemetryAcked = 1;
+    metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_NEVER;
+    metadata.gcsTelemetryUpdatePeriod = 0;
+    metadata.flightTelemetryAcked = 1;
+    metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
+    metadata.flightTelemetryUpdatePeriod = 5000;
+    metadata.loggingUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
+    metadata.loggingUpdatePeriod = 5000;
+    return metadata;
+}
+
+FlightTelemetryStats::DataFields FlightTelemetryStats::getData()
+{
+    QMutexLocker locker(mutex);
+    return data;
+}
+
+void FlightTelemetryStats::setData(DataFields& data)
+{
+    QMutexLocker locker(mutex);
+    this->data = data;
+    emit objectUpdatedAuto(this); // trigger object updated event
+    emit objectUpdated(this);
+}
+
+UAVDataObject* FlightTelemetryStats::clone(quint32 instID)
+{
+    FlightTelemetryStats* obj = new FlightTelemetryStats();
+    obj->initialize(instID, this->getMetaObject());
+    return obj;
+}

ground/src/plugins/uavobjects/flighttelemetrystats.h

@@ -0,0 +1,76 @@
+/**
+ ******************************************************************************
+ *
+ * @file       flighttelemetrystats.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the FlightTelemetryStats object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: flighttelemetrystats.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef FLIGHTTELEMETRYSTATS_H
+#define FLIGHTTELEMETRYSTATS_H
+
+#include "uavdataobject.h"
+
+class UAVOBJECTS_EXPORT FlightTelemetryStats: public UAVDataObject
+{
+    Q_OBJECT
+
+public:
+    // Field structure
+    typedef struct {
+        quint8 Connected;
+        float TxDataRate;
+        float RxDataRate;
+        quint32 TxFailures;
+        quint32 RxFailures;
+        quint32 TxRetries;
+
+    } __attribute__((packed)) DataFields;
+
+    // Enumeration types
+    typedef enum { CONNECTED_TRUE=0, CONNECTED_FALSE=1,  } ConnectedEnum;
+
+  
+    // Constants
+    static const quint32 OBJID = 766280320U;
+    static const QString NAME;
+    static const bool ISSINGLEINST = 1;
+    static const bool ISSETTINGS = 0;
+    static const quint32 NUMBYTES = sizeof(DataFields);
+
+    // Functions
+    FlightTelemetryStats();
+
+    DataFields getData();
+    void setData(DataFields& data);
+    Metadata getDefaultMetadata();
+    UAVDataObject* clone(quint32 instID);
+	
+private:
+    DataFields data;
+
+};
+
+#endif // FLIGHTTELEMETRYSTATS_H

ground/src/plugins/uavobjects/gcstelemetrystats.cpp

@@ -0,0 +1,87 @@
+/**
+ ******************************************************************************
+ *
+ * @file       gcstelemetrystats.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the GCSTelemetryStats object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: gcstelemetrystats.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#include "gcstelemetrystats.h"
+#include "uavobjectfields.h"
+
+const QString GCSTelemetryStats::NAME = QString("GCSTelemetryStats");
+
+GCSTelemetryStats::GCSTelemetryStats(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
+{
+    // Create fields
+    QList<UAVObjectField*> fields;
+    QStringList ConnectedEnumOptions;
+    ConnectedEnumOptions.append("True");
+    ConnectedEnumOptions.append("False");
+    fields.append(new UAVObjectFieldEnum(QString("Connected"), QString("bool"), 1, ConnectedEnumOptions));
+    fields.append(new UAVObjectFieldFloat(QString("TxDataRate"), QString("bytes/sec"), 1));
+    fields.append(new UAVObjectFieldFloat(QString("RxDataRate"), QString("bytes/sec"), 1));
+    fields.append(new UAVObjectFieldUInt32(QString("TxFailures"), QString("count"), 1));
+    fields.append(new UAVObjectFieldUInt32(QString("RxFailures"), QString("count"), 1));
+    fields.append(new UAVObjectFieldUInt32(QString("TxRetries"), QString("count"), 1));
+
+    // Initialize object
+    initializeFields(fields, (quint8*)&data, NUMBYTES);
+}
+
+UAVObject::Metadata GCSTelemetryStats::getDefaultMetadata()
+{
+    UAVObject::Metadata metadata;
+    metadata.gcsTelemetryAcked = 1;
+    metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_NEVER;
+    metadata.gcsTelemetryUpdatePeriod = 0;
+    metadata.flightTelemetryAcked = 1;
+    metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_NEVER;
+    metadata.flightTelemetryUpdatePeriod = 0;
+    metadata.loggingUpdateMode = UAVObject::UPDATEMODE_NEVER;
+    metadata.loggingUpdatePeriod = 0;
+    return metadata;
+}
+
+GCSTelemetryStats::DataFields GCSTelemetryStats::getData()
+{
+    QMutexLocker locker(mutex);
+    return data;
+}
+
+void GCSTelemetryStats::setData(DataFields& data)
+{
+    QMutexLocker locker(mutex);
+    this->data = data;
+    emit objectUpdatedAuto(this); // trigger object updated event
+    emit objectUpdated(this);
+}
+
+UAVDataObject* GCSTelemetryStats::clone(quint32 instID)
+{
+    GCSTelemetryStats* obj = new GCSTelemetryStats();
+    obj->initialize(instID, this->getMetaObject());
+    return obj;
+}

ground/src/plugins/uavobjects/gcstelemetrystats.h

@@ -0,0 +1,76 @@
+/**
+ ******************************************************************************
+ *
+ * @file       gcstelemetrystats.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the GCSTelemetryStats object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: gcstelemetrystats.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef GCSTELEMETRYSTATS_H
+#define GCSTELEMETRYSTATS_H
+
+#include "uavdataobject.h"
+
+class UAVOBJECTS_EXPORT GCSTelemetryStats: public UAVDataObject
+{
+    Q_OBJECT
+
+public:
+    // Field structure
+    typedef struct {
+        quint8 Connected;
+        float TxDataRate;
+        float RxDataRate;
+        quint32 TxFailures;
+        quint32 RxFailures;
+        quint32 TxRetries;
+
+    } __attribute__((packed)) DataFields;
+
+    // Enumeration types
+    typedef enum { CONNECTED_TRUE=0, CONNECTED_FALSE=1,  } ConnectedEnum;
+
+  
+    // Constants
+    static const quint32 OBJID = 607270704U;
+    static const QString NAME;
+    static const bool ISSINGLEINST = 1;
+    static const bool ISSETTINGS = 0;
+    static const quint32 NUMBYTES = sizeof(DataFields);
+
+    // Functions
+    GCSTelemetryStats();
+
+    DataFields getData();
+    void setData(DataFields& data);
+    Metadata getDefaultMetadata();
+    UAVDataObject* clone(quint32 instID);
+	
+private:
+    DataFields data;
+
+};
+
+#endif // GCSTELEMETRYSTATS_H

ground/src/plugins/uavobjects/uavobjects.pro

@@ -24,7 +24,9 @@ HEADERS += uavobjects_global.h \
     uavobjectfielduint32.h \
     uavobjectfields.h \
     settingspersistence.h \
-    gpsobject.h
+    gpsobject.h \
+    gcstelemetrystats.h \
+    flighttelemetrystats.h
 SOURCES += uavobject.cpp \
     uavmetaobject.cpp \
     uavobjectmanager.cpp \
@@ -45,6 +47,8 @@ SOURCES += uavobject.cpp \
     uavobjectfielduint16.cpp \
     uavobjectfielduint32.cpp \
     settingspersistence.cpp \
-    gpsobject.cpp
+    gpsobject.cpp \
+    gcstelemetrystats.cpp \
+    flighttelemetrystats.cpp
 DEFINES += UAVOBJECTS_LIBRARY
 OTHER_FILES += UAVObjects.pluginspec

ground/src/plugins/uavobjects/uavobjectsinit.cpp

@@ -33,6 +33,8 @@
 #include "exampleobject1.h"
 #include "exampleobject2.h"
 #include "examplesettings.h"
+#include "flighttelemetrystats.h"
+#include "gcstelemetrystats.h"
 #include "gpsobject.h"
 #include "settingspersistence.h"
 
@@ -46,6 +48,8 @@ void UAVObjectsInitialize(UAVObjectManager* objMngr)
     objMngr->registerObject( new ExampleObject1() );
     objMngr->registerObject( new ExampleObject2() );
     objMngr->registerObject( new ExampleSettings() );
+    objMngr->registerObject( new FlightTelemetryStats() );
+    objMngr->registerObject( new GCSTelemetryStats() );
     objMngr->registerObject( new GpsObject() );
     objMngr->registerObject( new SettingsPersistence() );
 

ground/src/plugins/uavtalk/telemetry.cpp

@@ -58,7 +58,13 @@ Telemetry::Telemetry(UAVTalk* utalk, UAVObjectManager* objMngr)
     updateTimer = new QTimer(this);
     connect(updateTimer, SIGNAL(timeout()), this, SLOT(processPeriodicUpdates()));
     updateTimer->start(1000);
-
+    // Setup and start the stats timer
+    statsObj = dynamic_cast<GCSTelemetryStats*>( objMngr->getObject(GCSTelemetryStats::NAME) );
+    txErrors = 0;
+    txRetries = 0;
+    statsTimer = new QTimer(this);
+    connect(statsTimer, SIGNAL(timeout()), this, SLOT(processStatsUpdates()));
+    statsTimer->start(STATS_UPDATE_PERIOD_MS);
 }
 
 /**
@@ -227,6 +233,7 @@ void Telemetry::transactionTimeout()
         {
             --transInfo.retriesRemaining;
             processObjectTransaction();
+            ++txRetries;
         }
         else
         {
@@ -235,6 +242,7 @@ void Telemetry::transactionTimeout()
             transPending = false;
             // Process new object updates from queue
             processObjectQueue();
+            ++txErrors;
         }
     }
 }
@@ -375,6 +383,34 @@ void Telemetry::processPeriodicUpdates()
     updateTimer->start(timeToNextUpdateMs);
 }
 
+void Telemetry::processStatsUpdates()
+{
+    QMutexLocker locker(mutex);
+
+    // Get UAVTalk stats
+    UAVTalk::ComStats utalkStats = utalk->getStats();
+    utalk->resetStats();
+
+    // Update stats object
+    GCSTelemetryStats::DataFields stats = statsObj->getData();
+    if (utalkStats.rxBytes > 0)
+    {
+        stats.Connected = GCSTelemetryStats::CONNECTED_TRUE;
+    }
+    else
+    {
+        stats.Connected = GCSTelemetryStats::CONNECTED_FALSE;
+    }
+    stats.RxDataRate = (float)utalkStats.rxBytes / ((float)STATS_UPDATE_PERIOD_MS/1000.0);
+    stats.TxDataRate = (float)utalkStats.txBytes / ((float)STATS_UPDATE_PERIOD_MS/1000.0);
+    stats.RxFailures += utalkStats.rxErrors;
+    stats.TxFailures += txErrors;
+    stats.TxRetries += txRetries;
+    txErrors = 0;
+    txRetries = 0;
+    statsObj->setData(stats);
+}
+
 void Telemetry::objectUpdatedAuto(UAVObject* obj)
 {
     QMutexLocker locker(mutex);

ground/src/plugins/uavtalk/telemetry.h

@@ -31,6 +31,7 @@
 
 #include "uavtalk.h"
 #include "uavobjects/uavobjectmanager.h"
+#include "uavobjects/gcstelemetrystats.h"
 #include <QMutex>
 #include <QMutexLocker>
 #include <QTimer>
@@ -55,6 +56,7 @@ private slots:
     void processPeriodicUpdates();
     void transactionCompleted(UAVObject* obj);
     void transactionTimeout();
+    void processStatsUpdates();
 
 private:
     // Constants
@@ -62,6 +64,7 @@ private:
     static const int MAX_RETRIES = 3;
     static const int MAX_UPDATE_PERIOD_MS = 1000;
     static const int MIN_UPDATE_PERIOD_MS = 1;
+    static const int STATS_UPDATE_PERIOD_MS = 5000;
 
     // Types
     /**
@@ -103,7 +106,11 @@ private:
     QMutex* mutex;
     QTimer* updateTimer;
     QTimer* transTimer;
+    QTimer* statsTimer;
     qint32 timeToNextUpdateMs;
+    quint32 txErrors;
+    quint32 txRetries;
+    GCSTelemetryStats* statsObj;
 
     // Methods
     void registerObject(UAVObject* obj);

ground/src/plugins/uavtalk/uavtalk.cpp

@@ -38,9 +38,28 @@ UAVTalk::UAVTalk(QIODevice* iodev, UAVObjectManager* objMngr)
     rxState = STATE_SYNC;
     mutex = new QMutex(QMutex::Recursive);
     respObj = NULL;
+    memset(&stats, 0, sizeof(ComStats));
     connect(io, SIGNAL(readyRead()), this, SLOT(processInputStream()));
 }
 
+/**
+ * Reset the statistics counters
+ */
+void UAVTalk::resetStats()
+{
+    QMutexLocker locker(mutex);
+    memset(&stats, 0, sizeof(ComStats));
+}
+
+/**
+ * Get the statistics counters
+ */
+UAVTalk::ComStats UAVTalk::getStats()
+{
+    QMutexLocker locker(mutex);
+    return stats;
+}
+
 /**
  * Called each time there are data in the input buffer
  */
@@ -140,6 +159,8 @@ bool UAVTalk::objectTransaction(UAVObject* obj, quint8 type, bool allInstances)
  */
 bool UAVTalk::processInputByte(quint8 rxbyte)
 {
+    // Update stats
+    ++stats.rxBytes;
     // Receive state machine
     switch (rxState) {
     case STATE_SYNC:
@@ -161,6 +182,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte)
             if (rxObj == NULL)
             {
                 rxState = STATE_SYNC;
+                ++stats.rxErrors;
             }
             else
             {
@@ -179,6 +201,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte)
                 if (rxLength >= MAX_PAYLOAD_LENGTH)
                 {
                     rxState = STATE_SYNC;
+                    ++stats.rxErrors;
                 }
                 else
                 {
@@ -242,13 +265,20 @@ bool UAVTalk::processInputByte(quint8 rxbyte)
             {
                 mutex->lock();
                 receiveObject(rxType, rxObjId, rxInstId, rxBuffer, rxLength);
+                stats.rxObjectBytes += rxLength;
+                ++stats.rxObjects;
                 mutex->unlock();
             }
+            else
+            {
+                ++stats.rxErrors;
+            }
             rxState = STATE_SYNC;
         }
         break;
     default:
         rxState = STATE_SYNC;
+        ++stats.rxErrors;
     }
 
     // Done
@@ -541,6 +571,11 @@ bool UAVTalk::transmitSingleObject(UAVObject* obj, quint8 type, bool allInstance
     // Send buffer
     io->write((const char*)txBuffer, dataOffset+length+CHECKSUM_LENGTH);
 
+    // Update stats
+    ++stats.txObjects;
+    stats.txBytes += dataOffset+length+CHECKSUM_LENGTH;
+    stats.txObjectBytes += length;
+
     // Done
     return true;
 }

ground/src/plugins/uavtalk/uavtalk.h

@@ -39,11 +39,24 @@ class UAVTalk: public QObject
     Q_OBJECT
 
 public:
+    typedef struct {
+        quint32 txBytes;
+        quint32 rxBytes;
+        quint32 txObjectBytes;
+        quint32 rxObjectBytes;
+        quint32 rxObjects;
+        quint32 txObjects;
+        quint32 txErrors;
+        quint32 rxErrors;
+    } ComStats;
+
     UAVTalk(QIODevice* iodev, UAVObjectManager* objMngr);
 
     bool sendObject(UAVObject* obj, bool acked, bool allInstances);
     bool sendObjectRequest(UAVObject* obj, bool allInstances);
     void cancelTransaction();
+    ComStats getStats();
+    void resetStats();
 
 signals:
     void transactionCompleted(UAVObject* obj);
@@ -84,6 +97,7 @@ private:
     quint16 rxCSPacket, rxCS;
     qint32 rxCount;
     RxStateType rxState;
+    ComStats stats;
 
     // Methods
     bool objectTransaction(UAVObject* obj, quint8 type, bool allInstances);

ground/src/shared/uavobjectdefinition/exampleobject1.xml

@@ -1,15 +1,15 @@
 <xml>
 	<object name="ExampleObject1" singleinstance="false" settings="false">
-		<field name="Field1" units="unit1" type="int8" elements="1"/>
-		<field name="Field2" units="unit2" type="int16" elements="1"/>
-        <field name="Field3" units="unit3" type="int32" elements="1"/>
-        <field name="Field4" units="unit4" type="float" elements="4"/>
-        <field name="Field5" units="unit5" type="uint8" elements="1"/>
-        <field name="Field6" units="unit6" type="uint16" elements="1"/>
-        <field name="Field7" units="unit7" type="uint32" elements="1"/>
-        <field name="Field8" units="unit8" type="enum" elements="1" options="Option1, Option2"/>
-        <telemetrygcs acked="true" updatemode="periodic" period="200"/>
-        <telemetryflight acked="true" updatemode="onchange" period="0"/>
-		<logging updatemode="never" period="0"/>
+            <field name="Field1" units="unit1" type="int8" elements="1"/>
+            <field name="Field2" units="unit2" type="int16" elements="1"/>
+            <field name="Field3" units="unit3" type="int32" elements="1"/>
+            <field name="Field4" units="unit4" type="float" elements="4"/>
+            <field name="Field5" units="unit5" type="uint8" elements="1"/>
+            <field name="Field6" units="unit6" type="uint16" elements="1"/>
+            <field name="Field7" units="unit7" type="uint32" elements="1"/>
+            <field name="Field8" units="unit8" type="enum" elements="1" options="Option1, Option2"/>
+            <telemetrygcs acked="true" updatemode="periodic" period="200"/>
+            <telemetryflight acked="true" updatemode="onchange" period="0"/>
+            <logging updatemode="never" period="0"/>
 	</object>
 </xml>

ground/src/shared/uavobjectdefinition/exampleobject2.xml

@@ -1,11 +1,11 @@
 <xml>
 	<object name="ExampleObject2" singleinstance="false" settings="false">
-		<field name="Field1" units="unit1" type="int8" elements="1"/>
-		<field name="Field2" units="unit2" type="int16" elements="1"/>
-        <field name="Field3" units="unit3" type="int32" elements="1"/>
-        <field name="Field4" units="unit4" type="float" elements="4"/>
-        <telemetrygcs acked="true" updatemode="onchange" period="0"/>
-        <telemetryflight acked="true" updatemode="periodic" period="100"/>
-		<logging updatemode="never" period="0"/>
+            <field name="Field1" units="unit1" type="int8" elements="1"/>
+            <field name="Field2" units="unit2" type="int16" elements="1"/>
+            <field name="Field3" units="unit3" type="int32" elements="1"/>
+            <field name="Field4" units="unit4" type="float" elements="4"/>
+            <telemetrygcs acked="true" updatemode="onchange" period="0"/>
+            <telemetryflight acked="true" updatemode="periodic" period="100"/>
+            <logging updatemode="never" period="0"/>
 	</object>
 </xml>

ground/src/shared/uavobjectdefinition/examplesettings.xml

@@ -1,10 +1,10 @@
 <xml>
 	<object name="ExampleSettings" singleinstance="true" settings="true">
-		<field name="UpdatePeriod" units="ms" type="int32" elements="1"/>
-		<field name="StepSize" units="" type="int32" elements="1"/>
-		<field name="StepDirection" units="" type="enum" elements="1" options="up,down"/>
-		<telemetrygcs acked="true" updatemode="onchange" period="0"/>
-		<telemetryflight acked="true" updatemode="onchange" period="0"/>
-		<logging updatemode="never" period="0"/>
+            <field name="UpdatePeriod" units="ms" type="int32" elements="1"/>
+            <field name="StepSize" units="" type="int32" elements="1"/>
+            <field name="StepDirection" units="" type="enum" elements="1" options="up,down"/>
+            <telemetrygcs acked="true" updatemode="onchange" period="0"/>
+            <telemetryflight acked="true" updatemode="onchange" period="0"/>
+            <logging updatemode="never" period="0"/>
 	</object>
-</xml>
+</xml>

ground/src/shared/uavobjectdefinition/flighttelemetrystats.xml

@@ -0,0 +1,13 @@
+<xml>
+        <object name="FlightTelemetryStats" singleinstance="true" settings="false">
+            <field name="Connected" units="bool" type="enum" elements="1" options="True, False"/>
+            <field name="TxDataRate" units="bytes/sec" type="float" elements="1"/>
+            <field name="RxDataRate" units="bytes/sec" type="float" elements="1"/>
+            <field name="TxFailures" units="count" type="uint32" elements="1"/>
+            <field name="RxFailures" units="count" type="uint32" elements="1"/>
+            <field name="TxRetries" units="count" type="uint32" elements="1"/>
+            <telemetrygcs acked="true" updatemode="never" period="0"/>
+            <telemetryflight acked="true" updatemode="periodic" period="5000"/>
+            <logging updatemode="periodic" period="5000"/>
+	</object>
+</xml>

ground/src/shared/uavobjectdefinition/gcstelemetrystats.xml

@@ -0,0 +1,13 @@
+<xml>
+        <object name="GCSTelemetryStats" singleinstance="true" settings="false">
+            <field name="Connected" units="bool" type="enum" elements="1" options="True, False"/>
+            <field name="TxDataRate" units="bytes/sec" type="float" elements="1"/>
+            <field name="RxDataRate" units="bytes/sec" type="float" elements="1"/>
+            <field name="TxFailures" units="count" type="uint32" elements="1"/>
+            <field name="RxFailures" units="count" type="uint32" elements="1"/>
+            <field name="TxRetries" units="count" type="uint32" elements="1"/>
+            <telemetrygcs acked="true" updatemode="never" period="0"/>
+            <telemetryflight acked="true" updatemode="never" period="0"/>
+            <logging updatemode="never" period="0"/>
+        </object>
+</xml>

ground/src/shared/uavobjectdefinition/settingspersistence.xml

@@ -1,8 +1,8 @@
 <xml>
 	<object name="SettingsPersistence" singleinstance="true" settings="false">
-        <field name="Operation" units="" type="enum" elements="1" options="Load,Save"/>
-        <telemetrygcs acked="true" updatemode="manual" period="0"/>
-        <telemetryflight acked="true" updatemode="manual" period="0"/>
-		<logging updatemode="never" period="0"/>
+            <field name="Operation" units="" type="enum" elements="1" options="Load,Save"/>
+            <telemetrygcs acked="true" updatemode="manual" period="0"/>
+            <telemetryflight acked="true" updatemode="manual" period="0"/>
+            <logging updatemode="never" period="0"/>
 	</object>
 </xml>