Merge working changes into export-build branch.

author: px4dev <px4@purgatory.org> 2013-04-26 16:14:32 -0700
committer: px4dev <px4@purgatory.org> 2013-04-26 16:14:32 -0700
commit: 01e427b17c161d8adaa38d6bdb91aecb434451f2 (patch)
tree: e33f4f6b78ef133c91ad92f1a413c2b16f17a5d5
parent: ce0e4a3afd28b97d5a540e02bef86c52a335f243 (diff)
download: px4-firmware-01e427b17c161d8adaa38d6bdb91aecb434451f2.tar.gz
px4-firmware-01e427b17c161d8adaa38d6bdb91aecb434451f2.tar.bz2
px4-firmware-01e427b17c161d8adaa38d6bdb91aecb434451f2.zip
102 files changed, 1134 insertions, 667 deletions
diff --git a/.gitignore b/.gitignore
index 46b347f72..de03b0a60 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,4 +1,5 @@
 .built
+.context
 *.context
 *.bdat
 *.pdat
@@ -56,3 +57,6 @@ core
 mkdeps
 Archives
 Build
+!ROMFS/*/*.d
+!ROMFS/*/*/*.d
+!ROMFS/*/*/*/*.d
diff --git a/Makefile b/Makefile
index d0ffeb740..8f566a002 100644
--- a/Makefile
+++ b/Makefile
@@ -42,12 +42,12 @@ include $(PX4_BASE)makefiles/setup.mk
 #
 # Canned firmware configurations that we build.
 #
-CONFIGS			?= px4fmu_default px4io_default
+CONFIGS			?= $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)config_*.mk))))
 
 #
 # Boards that we build NuttX export kits for.
 #
-BOARDS			 = px4fmu px4io
+BOARDS			:= $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)board_*.mk))))
 
 #
 # Debugging
@@ -62,11 +62,26 @@ MQUIET			 = --no-print-directory
 #
 # If the user has listed a config as a target, strip it out and override CONFIGS.
 #
+FIRMWARE_GOAL		 = firmware
 EXPLICIT_CONFIGS	:= $(filter $(CONFIGS),$(MAKECMDGOALS))
 ifneq ($(EXPLICIT_CONFIGS),)
 CONFIGS			:= $(EXPLICIT_CONFIGS)
 .PHONY:			$(EXPLICIT_CONFIGS)
 $(EXPLICIT_CONFIGS):	all
+
+#
+# If the user has asked to upload, they must have also specified exactly one
+# config.
+#
+ifneq ($(filter upload,$(MAKECMDGOALS)),)
+ifneq ($(words $(EXPLICIT_CONFIGS)),1)
+$(error In order to upload, exactly one board config must be specified)
+endif
+FIRMWARE_GOAL		 = upload
+.PHONY: upload
+upload:
+	@:
+endif
 endif
 
 #
@@ -95,11 +110,11 @@ $(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:
 	@echo %%%% Building $(config) in $(work_dir)
 	@echo %%%%
 	$(Q) mkdir -p $(work_dir)
-	$(Q) make -C $(work_dir) \
+	$(Q) make -r -C $(work_dir) \
 		-f $(PX4_MK_DIR)firmware.mk \
 		CONFIG=$(config) \
 		WORK_DIR=$(work_dir) \
-		firmware
+		$(FIRMWARE_GOAL)
 
 #
 # Build the NuttX export archives.
@@ -118,15 +133,21 @@ NUTTX_ARCHIVES		 = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export)
 .PHONY:			archives
 archives:		$(NUTTX_ARCHIVES)
 
+# We cannot build these parallel; note that we also force -j1 for the
+# sub-make invocations.
+ifneq ($(filter archives,$(MAKECMDGOALS)),)
+.NOTPARALLEL:
+endif
+
 $(ARCHIVE_DIR)%.export:	board = $(notdir $(basename $@))
 $(ARCHIVE_DIR)%.export:	configuration = $(if $(filter $(board),px4io),io,nsh)
 $(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC) $(NUTTX_APPS)
 	@echo %% Configuring NuttX for $(board)
 	$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
-	$(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean
+	$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
 	$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
 	@echo %% Exporting NuttX for $(board)
-	$(Q) make -C $(NUTTX_SRC) -r $(MQUIET) export
+	$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) export
 	$(Q) mkdir -p $(dir $@)
 	$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
 
@@ -162,9 +183,7 @@ help:
 	@echo ""
 	@echo "  all"
 	@echo "    Build all firmware configs: $(CONFIGS)"
-	@echo "    A limited set of configs can be built with:"
-	@echo ""
-	@echo "      CONFIGS=<list-of-configs>"
+	@echo "    A limited set of configs can be built with CONFIGS=<list-of-configs>"
 	@echo ""
 	@for config in $(CONFIGS); do \
 		echo "  $$config"; \
diff --git a/ROMFS/px4fmu_common/init.d/rc.FMU_quad_x b/ROMFS/px4fmu_common/init.d/rc.FMU_quad_x
new file mode 100644
index 000000000..8787443ea
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.FMU_quad_x
@@ -0,0 +1,67 @@
+#!nsh
+#
+# Flight startup script for PX4FMU with PWM outputs.
+#
+ 
+# Disable the USB interface
+set USB no
+ 
+# Disable autostarting other apps
+set MODE custom
+ 
+echo "[init] doing PX4FMU Quad startup..."
+ 
+#
+# Start the ORB
+#
+uorb start
+ 
+#
+# Load microSD params
+#
+echo "[init] loading microSD params"
+param select /fs/microsd/parameters
+if [ -f /fs/microsd/parameters ]
+then
+	param load /fs/microsd/parameters
+fi
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+#              see https://pixhawk.ethz.ch/mavlink/
+#
+param set MAV_TYPE 2
+ 
+#
+# Start MAVLink
+#
+mavlink start -d /dev/ttyS0 -b 57600
+usleep 5000
+ 
+#
+# Start the sensors and test them.
+#
+sh /etc/init.d/rc.sensors
+ 
+#
+# Start the commander.
+#
+commander start
+ 
+#
+# Start the attitude estimator
+#
+attitude_estimator_ekf start
+ 
+echo "[init] starting PWM output"
+fmu mode_pwm
+mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
+ 
+#
+# Start attitude control
+#
+multirotor_att_control start
+ 
+echo "[init] startup done, exiting"
+exit
+\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/rc.PX4IO b/ROMFS/px4fmu_common/init.d/rc.PX4IO
new file mode 100644
index 000000000..1e3963b9a
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.PX4IO
@@ -0,0 +1,80 @@
+#!nsh
+ 
+# Disable USB and autostart
+set USB no
+set MODE camflyer
+ 
+#
+# Start the ORB
+#
+uorb start
+ 
+#
+# Load microSD params
+#
+echo "[init] loading microSD params"
+param select /fs/microsd/parameters
+if [ -f /fs/microsd/parameters ]
+then
+	param load /fs/microsd/parameters
+fi
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+#              see https://pixhawk.ethz.ch/mavlink/
+#
+param set MAV_TYPE 1
+ 
+#
+# Start the sensors.
+#
+sh /etc/init.d/rc.sensors
+ 
+#
+# Start MAVLink
+#
+mavlink start -d /dev/ttyS1 -b 57600
+usleep 5000
+ 
+#
+# Start the commander.
+#
+commander start
+ 
+#
+# Start GPS interface
+#
+gps start
+ 
+#
+# Start the attitude estimator
+#
+kalman_demo start
+ 
+#
+# Start PX4IO interface
+#
+px4io start
+ 
+#
+# Load mixer and start controllers
+#
+mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
+control_demo start
+ 
+#
+# Start logging
+#
+sdlog start -s 10
+
+#
+# Start system state
+#
+if blinkm start
+then
+	echo "using BlinkM for state indication"
+	blinkm systemstate
+else
+	echo "no BlinkM found, OK."
+fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.PX4IOAR b/ROMFS/px4fmu_common/init.d/rc.PX4IOAR
new file mode 100644
index 000000000..72df68e35
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.PX4IOAR
@@ -0,0 +1,98 @@
+#!nsh
+#
+# Flight startup script for PX4FMU on PX4IOAR carrier board.
+#
+ 
+# Disable the USB interface
+set USB no
+ 
+# Disable autostarting other apps
+set MODE ardrone
+ 
+echo "[init] doing PX4IOAR startup..."
+ 
+#
+# Start the ORB
+#
+uorb start
+ 
+#
+# Init the parameter storage
+#
+echo "[init] loading microSD params"
+param select /fs/microsd/parameters
+if [ -f /fs/microsd/parameters ]
+then
+	param load /fs/microsd/parameters
+fi
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+#              see https://pixhawk.ethz.ch/mavlink/
+#
+param set MAV_TYPE 2
+ 
+#
+# Start the sensors.
+#
+sh /etc/init.d/rc.sensors
+ 
+#
+# Start MAVLink
+#
+mavlink start -d /dev/ttyS0 -b 57600
+usleep 5000
+ 
+#
+# Start the commander.
+#
+commander start
+ 
+#
+# Start the attitude estimator
+#
+attitude_estimator_ekf start
+ 
+#
+# Configure PX4FMU for operation with PX4IOAR
+#
+fmu mode_gpio_serial
+ 
+#
+# Fire up the multi rotor attitude controller
+#
+multirotor_att_control start
+ 
+#
+# Fire up the AR.Drone interface.
+#
+ardrone_interface start -d /dev/ttyS1
+ 
+#
+# Start GPS capture
+#
+gps start
+
+#
+# Start logging
+#
+sdlog start -s 10
+
+#
+# Start system state
+#
+if blinkm start
+then
+	echo "using BlinkM for state indication"
+	blinkm systemstate
+else
+	echo "no BlinkM found, OK."
+fi
+ 
+#
+# startup is done; we don't want the shell because we
+# use the same UART for telemetry
+#
+echo "[init] startup done"
+exit
+\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/rc.boarddetect b/ROMFS/px4fmu_common/init.d/rc.boarddetect
new file mode 100644
index 000000000..f233e51df
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.boarddetect
@@ -0,0 +1,66 @@
+#!nsh
+#
+# If we are still in flight mode, work out what airframe 
+# configuration we have and start up accordingly.
+#
+if [ $MODE != autostart ]
+then
+	echo "[init] automatic startup cancelled by user script"
+else
+	echo "[init] detecting attached hardware..."
+
+	#
+	# Assume that we are PX4FMU in standalone mode
+	#
+	set BOARD PX4FMU
+
+	#
+	# Are we attached to a PX4IOAR (AR.Drone carrier board)?
+	#
+	if boardinfo test name PX4IOAR
+	then
+		set BOARD PX4IOAR
+		if [ -f /etc/init.d/rc.PX4IOAR ]
+		then
+			echo "[init] reading /etc/init.d/rc.PX4IOAR"
+			usleep 500
+			sh /etc/init.d/rc.PX4IOAR
+		fi
+	else
+		echo "[init] PX4IOAR not detected"
+	fi
+
+	#
+	# Are we attached to a PX4IO?
+	#
+	if boardinfo test name PX4IO
+	then
+		set BOARD PX4IO
+		if [ -f /etc/init.d/rc.PX4IO ]
+		then
+			echo "[init] reading /etc/init.d/rc.PX4IO"
+			usleep 500
+			sh /etc/init.d/rc.PX4IO
+		fi
+	else
+		echo "[init] PX4IO not detected"
+	fi
+
+	#
+	# Looks like we are stand-alone
+	#
+	if [ $BOARD == PX4FMU ]
+	then
+		echo "[init] no expansion board detected"
+		if [ -f /etc/init.d/rc.standalone ]
+		then
+			echo "[init] reading /etc/init.d/rc.standalone"
+			sh /etc/init.d/rc.standalone
+		fi
+	fi
+
+	#
+	# We may not reach here if the airframe-specific script exits the shell.
+	#
+	echo "[init] startup done."
+fi
+\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/rc.jig b/ROMFS/px4fmu_common/init.d/rc.jig
new file mode 100644
index 000000000..e2b5d8f30
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.jig
@@ -0,0 +1,10 @@
+#!nsh
+#
+# Test jig startup script
+#
+
+echo "[testing] doing production test.."
+
+tests jig
+
+echo "[testing] testing done"
diff --git a/ROMFS/px4fmu_common/init.d/rc.logging b/ROMFS/px4fmu_common/init.d/rc.logging
new file mode 100644
index 000000000..09c2d00d1
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.logging
@@ -0,0 +1,9 @@
+#!nsh
+#
+# Initialise logging services.
+#
+
+if [ -d /fs/microsd ]
+then
+	sdlog start
+fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
new file mode 100644
index 000000000..42c2f52e9
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -0,0 +1,34 @@
+#!nsh
+#
+# Standard startup script for PX4FMU onboard sensor drivers.
+#
+
+#
+# Start sensor drivers here.
+#
+
+ms5611 start
+adc start
+
+if mpu6000 start
+then
+	echo "using MPU6000 and HMC5883L"
+	hmc5883 start
+else
+	echo "using L3GD20 and LSM303D"
+	l3gd20 start
+	lsm303 start
+fi
+
+#
+# Start the sensor collection task.
+# IMPORTANT: this also loads param offsets
+# ALWAYS start this task before the
+# preflight_check.
+#
+sensors start
+
+#
+# Check sensors - run AFTER 'sensors start'
+#
+preflight_check
+\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/rc.standalone b/ROMFS/px4fmu_common/init.d/rc.standalone
new file mode 100644
index 000000000..67e95215b
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.standalone
@@ -0,0 +1,13 @@
+#!nsh
+#
+# Flight startup script for PX4FMU standalone configuration.
+#
+
+echo "[init] doing standalone PX4FMU startup..."
+
+#
+# Start the ORB
+#
+uorb start
+
+echo "[init] startup done"
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
new file mode 100755
index 000000000..89a767879
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -0,0 +1,79 @@
+#!nsh
+#
+# PX4FMU startup script.
+#
+# This script is responsible for:
+#
+# - mounting the microSD card (if present)
+# - running the user startup script from the microSD card (if present)
+# - detecting the configuration of the system and picking a suitable
+#   startup script to continue with
+#
+# Note: DO NOT add configuration-specific commands to this script;
+#       add them to the per-configuration scripts instead.
+#
+
+#
+# Default to auto-start mode.  An init script on the microSD card
+# can change this to prevent automatic startup of the flight script.
+#
+set MODE autostart
+set USB autoconnect
+
+#
+# Start playing the startup tune
+#
+tone_alarm start
+
+#
+# Try to mount the microSD card.
+#
+echo "[init] looking for microSD..."
+if mount -t vfat /dev/mmcsd0 /fs/microsd
+then
+	echo "[init] card mounted at /fs/microsd"
+else
+	echo "[init] no microSD card found"
+fi
+
+#
+# Look for an init script on the microSD card.
+#
+# To prevent automatic startup in the current flight mode,
+# the script should set MODE to some other value.
+#
+if [ -f /fs/microsd/etc/rc ]
+then
+	echo "[init] reading /fs/microsd/etc/rc"
+	sh /fs/microsd/etc/rc
+fi
+# Also consider rc.txt files
+if [ -f /fs/microsd/etc/rc.txt ]
+then
+	echo "[init] reading /fs/microsd/etc/rc.txt"
+	sh /fs/microsd/etc/rc.txt
+fi
+
+#
+# Check for USB host
+#
+if [ $USB != autoconnect ]
+then
+	echo "[init] not connecting USB"
+else
+	if sercon
+	then
+		echo "[init] USB interface connected"
+	else
+		echo "[init] No USB connected"
+	fi
+fi
+
+# if this is an APM build then there will be a rc.APM script
+# from an EXTERNAL_SCRIPTS build option
+if [ -f /etc/init.d/rc.APM ]
+then
+	echo Running rc.APM
+	# if APM startup is successful then nsh will exit
+	sh /etc/init.d/rc.APM
+fi
diff --git a/ROMFS/px4fmu_default/logging/logconv.m b/ROMFS/px4fmu_common/logging/logconv.m
index 3750ddae2..3750ddae2 100644
--- a/ROMFS/px4fmu_default/logging/logconv.m
+++ b/ROMFS/px4fmu_common/logging/logconv.m
diff --git a/ROMFS/px4fmu_default/mixers/FMU_AERT.mix b/ROMFS/px4fmu_common/mixers/FMU_AERT.mix
index 75e82bb00..75e82bb00 100644
--- a/ROMFS/px4fmu_default/mixers/FMU_AERT.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_AERT.mix
diff --git a/ROMFS/px4fmu_default/mixers/FMU_AET.mix b/ROMFS/px4fmu_common/mixers/FMU_AET.mix
index 20cb88b91..20cb88b91 100644
--- a/ROMFS/px4fmu_default/mixers/FMU_AET.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_AET.mix
diff --git a/ROMFS/px4fmu_default/mixers/FMU_Q.mix b/ROMFS/px4fmu_common/mixers/FMU_Q.mix
index ebcb66b24..ebcb66b24 100644
--- a/ROMFS/px4fmu_default/mixers/FMU_Q.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_Q.mix
diff --git a/ROMFS/px4fmu_default/mixers/FMU_RET.mix b/ROMFS/px4fmu_common/mixers/FMU_RET.mix
index 95beb8927..95beb8927 100644
--- a/ROMFS/px4fmu_default/mixers/FMU_RET.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_RET.mix
diff --git a/ROMFS/px4fmu_default/mixers/FMU_X5.mix b/ROMFS/px4fmu_common/mixers/FMU_X5.mix
index 9f81e1dc3..9f81e1dc3 100644
--- a/ROMFS/px4fmu_default/mixers/FMU_X5.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_X5.mix
diff --git a/ROMFS/px4fmu_default/mixers/FMU_delta.mix b/ROMFS/px4fmu_common/mixers/FMU_delta.mix
index 981466704..981466704 100644
--- a/ROMFS/px4fmu_default/mixers/FMU_delta.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_delta.mix
diff --git a/ROMFS/px4fmu_default/mixers/FMU_hex_+.mix b/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix
index b5e38ce9e..b5e38ce9e 100644
--- a/ROMFS/px4fmu_default/mixers/FMU_hex_+.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix
diff --git a/ROMFS/px4fmu_default/mixers/FMU_hex_x.mix b/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix
index 8e8d122ad..8e8d122ad 100644
--- a/ROMFS/px4fmu_default/mixers/FMU_hex_x.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix
diff --git a/ROMFS/px4fmu_default/mixers/FMU_octo_+.mix b/ROMFS/px4fmu_common/mixers/FMU_octo_+.mix
index 2cb70e814..2cb70e814 100644
--- a/ROMFS/px4fmu_default/mixers/FMU_octo_+.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_octo_+.mix
diff --git a/ROMFS/px4fmu_default/mixers/FMU_octo_x.mix b/ROMFS/px4fmu_common/mixers/FMU_octo_x.mix
index edc71f013..edc71f013 100644
--- a/ROMFS/px4fmu_default/mixers/FMU_octo_x.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_octo_x.mix
diff --git a/ROMFS/px4fmu_default/mixers/FMU_pass.mix b/ROMFS/px4fmu_common/mixers/FMU_pass.mix
index e9a81f2bb..e9a81f2bb 100644
--- a/ROMFS/px4fmu_default/mixers/FMU_pass.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_pass.mix
diff --git a/ROMFS/px4fmu_default/mixers/FMU_quad_+.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix
index dfdf1d58e..dfdf1d58e 100644
--- a/ROMFS/px4fmu_default/mixers/FMU_quad_+.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix
diff --git a/ROMFS/px4fmu_default/mixers/FMU_quad_x.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_x.mix
index 12a3bee20..12a3bee20 100644
--- a/ROMFS/px4fmu_default/mixers/FMU_quad_x.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_quad_x.mix
diff --git a/ROMFS/px4fmu_default/mixers/README b/ROMFS/px4fmu_common/mixers/README
index 6649c53c2..6649c53c2 100644
--- a/ROMFS/px4fmu_default/mixers/README
+++ b/ROMFS/px4fmu_common/mixers/README
diff --git a/Tools/px_uploader.py b/Tools/px_uploader.py
index cce388d71..d2ebf1698 100755
--- a/Tools/px_uploader.py
+++ b/Tools/px_uploader.py
@@ -41,20 +41,19 @@
 # The uploader uses the following fields from the firmware file:
 #
 # image
-#	The firmware that will be uploaded.
+#       The firmware that will be uploaded.
 # image_size
-#	The size of the firmware in bytes.
+#       The size of the firmware in bytes.
 # board_id
-#	The board for which the firmware is intended.
+#       The board for which the firmware is intended.
 # board_revision
-#	Currently only used for informational purposes.
+#       Currently only used for informational purposes.
 #
 
 import sys
 import argparse
 import binascii
 import serial
-import os
 import struct
 import json
 import zlib
@@ -64,292 +63,294 @@ import array
 
 from sys import platform as _platform
 
+
 class firmware(object):
-	'''Loads a firmware file'''
-
-	desc = {}
-	image = bytes()
-	crctab = array.array('I', [
-		0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
-		0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
-		0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
-		0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
-		0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
-		0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
-		0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
-		0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
-		0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
-		0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
-		0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
-		0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
-		0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
-		0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
-		0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
-		0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
-		0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
-		0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
-		0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
-		0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
-		0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
-		0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
-		0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
-		0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
-		0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
-		0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
-		0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
-		0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
-		0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
-		0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
-		0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
-		0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d ])
-	crcpad = bytearray('\xff\xff\xff\xff')
-
-	def __init__(self, path):
-
-		# read the file
-		f = open(path, "r")
-		self.desc = json.load(f)
-		f.close()
-
-		self.image = bytearray(zlib.decompress(base64.b64decode(self.desc['image'])))
-
-		# pad image to 4-byte length
-		while ((len(self.image) % 4) != 0):
-			self.image.append('\xff')
-
-	def property(self, propname):
-		return self.desc[propname]
-
-	def __crc32(self, bytes, state):
-		for byte in bytes:
-			index = (state ^ byte) & 0xff
-			state = self.crctab[index] ^ (state >> 8)
-		return state
-
-	def crc(self, padlen):
-		state = self.__crc32(self.image, int(0))
-		for i in range(len(self.image), (padlen - 1), 4):
-			state = self.__crc32(self.crcpad, state)
-		return state
+        '''Loads a firmware file'''
+
+        desc = {}
+        image = bytes()
+        crctab = array.array('I', [
+            0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
+            0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
+            0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
+            0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
+            0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
+            0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
+            0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
+            0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
+            0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
+            0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
+            0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
+            0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
+            0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
+            0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
+            0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
+            0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
+            0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
+            0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
+            0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
+            0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
+            0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
+            0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
+            0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
+            0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
+            0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
+            0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
+            0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
+            0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
+            0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
+            0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
+            0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
+            0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d])
+        crcpad = bytearray('\xff\xff\xff\xff')
+
+        def __init__(self, path):
+
+                # read the file
+                f = open(path, "r")
+                self.desc = json.load(f)
+                f.close()
+
+                self.image = bytearray(zlib.decompress(base64.b64decode(self.desc['image'])))
+
+                # pad image to 4-byte length
+                while ((len(self.image) % 4) != 0):
+                        self.image.append('\xff')
+
+        def property(self, propname):
+                return self.desc[propname]
+
+        def __crc32(self, bytes, state):
+                for byte in bytes:
+                        index = (state ^ byte) & 0xff
+                        state = self.crctab[index] ^ (state >> 8)
+                return state
+
+        def crc(self, padlen):
+                state = self.__crc32(self.image, int(0))
+                for i in range(len(self.image), (padlen - 1), 4):
+                        state = self.__crc32(self.crcpad, state)
+                return state
+
 
 class uploader(object):
-	'''Uploads a firmware file to the PX FMU bootloader'''
-
-	# protocol bytes
-	INSYNC		= chr(0x12)
-	EOC		= chr(0x20)
-
-	# reply bytes
-	OK		= chr(0x10)
-	FAILED		= chr(0x11)
-	INVALID		= chr(0x13)	# rev3+
-
-	# command bytes
-	NOP		= chr(0x00)	# guaranteed to be discarded by the bootloader
-	GET_SYNC	= chr(0x21)
-	GET_DEVICE	= chr(0x22)
-	CHIP_ERASE	= chr(0x23)
-	CHIP_VERIFY	= chr(0x24)	# rev2 only
-	PROG_MULTI	= chr(0x27)
-	READ_MULTI	= chr(0x28)	# rev2 only
-	GET_CRC		= chr(0x29)	# rev3+
-	REBOOT		= chr(0x30)
-	
-	INFO_BL_REV	= chr(1)	# bootloader protocol revision
-	BL_REV_MIN	= 2		# minimum supported bootloader protocol 
-	BL_REV_MAX	= 3		# maximum supported bootloader protocol 
-	INFO_BOARD_ID	= chr(2)	# board type
-	INFO_BOARD_REV	= chr(3)	# board revision
-	INFO_FLASH_SIZE	= chr(4)	# max firmware size in bytes
-
-	PROG_MULTI_MAX	= 60		# protocol max is 255, must be multiple of 4
-	READ_MULTI_MAX	= 60		# protocol max is 255, something overflows with >= 64
-
-	def __init__(self, portname, baudrate):
-		# open the port, keep the default timeout short so we can poll quickly
-		self.port = serial.Serial(portname, baudrate, timeout=0.25)
-
-	def close(self):
-		if self.port is not None:
-			self.port.close()
-
-	def __send(self, c):
-#		print("send " + binascii.hexlify(c))
-		self.port.write(str(c))
-
-	def __recv(self, count = 1):
-		c = self.port.read(count)
-		if len(c) < 1:
-			raise RuntimeError("timeout waiting for data")
-#		print("recv " + binascii.hexlify(c))
-		return c
-
-	def __recv_int(self):
-		raw = self.__recv(4)
-		val = struct.unpack("<I", raw)
-		return val[0]
-
-	def __getSync(self):
-		self.port.flush()
-		c = self.__recv()
-		if c is not self.INSYNC:
-			raise RuntimeError("unexpected 0x%x instead of INSYNC" % ord(c))
-		c = self.__recv()
-		if c == self.INVALID:
-			raise RuntimeError("bootloader reports INVALID OPERATION")
-		if c == self.FAILED:
-			raise RuntimeError("bootloader reports OPERATION FAILED")
-		if c != self.OK:
-			raise RuntimeError("unexpected response 0x%x instead of OK" % ord(c))
-
-	# attempt to get back into sync with the bootloader
-	def __sync(self):
-		# send a stream of ignored bytes longer than the longest possible conversation
-		# that we might still have in progress
-#		self.__send(uploader.NOP * (uploader.PROG_MULTI_MAX + 2))
-		self.port.flushInput()
-		self.__send(uploader.GET_SYNC 
-				+ uploader.EOC)
-		self.__getSync()
-		
-#	def __trySync(self):
-#		c = self.__recv()
-#		if (c != self.INSYNC):
-#			#print("unexpected 0x%x instead of INSYNC" % ord(c))
-#			return False;
-#		c = self.__recv()
-#		if (c != self.OK):
-#			#print("unexpected 0x%x instead of OK" % ord(c))
-#			return False
-#		return True
-
-	# send the GET_DEVICE command and wait for an info parameter
-	def __getInfo(self, param):
-		self.__send(uploader.GET_DEVICE + param + uploader.EOC)
-		value = self.__recv_int()
-		self.__getSync()
-		return value
-
-	# send the CHIP_ERASE command and wait for the bootloader to become ready
-	def __erase(self):
-		self.__send(uploader.CHIP_ERASE 
-				+ uploader.EOC)
-		# erase is very slow, give it 10s
-		deadline = time.time() + 10
-		while time.time() < deadline:
-			try:
-				self.__getSync()
-				return
-			except RuntimeError as ex:
-				# we timed out, that's OK
-				continue
-
-		raise RuntimeError("timed out waiting for erase")
-
-	# send a PROG_MULTI command to write a collection of bytes
-	def __program_multi(self, data):
-		self.__send(uploader.PROG_MULTI
-				+ chr(len(data)))
-		self.__send(data)
-		self.__send(uploader.EOC)
-		self.__getSync()
-		
-	# verify multiple bytes in flash
-	def __verify_multi(self, data):
-		self.__send(uploader.READ_MULTI
-				+ chr(len(data))
-				+ uploader.EOC)
-		self.port.flush()
-		programmed = self.__recv(len(data))
-		if programmed != data:
-			print(("got    " + binascii.hexlify(programmed)))
-			print(("expect " + binascii.hexlify(data)))
-			return False
-		self.__getSync()
-		return True
-		
-	# send the reboot command
-	def __reboot(self):
-		self.__send(uploader.REBOOT
-				+ uploader.EOC)
-		self.port.flush()
-
-		# v3+ can report failure if the first word flash fails
-		if self.bl_rev >= 3:
-			self.__getSync()
-
-	# split a sequence into a list of size-constrained pieces
-	def __split_len(self, seq, length):
-    		return [seq[i:i+length] for i in range(0, len(seq), length)]
-
-	# upload code
-	def __program(self, fw):
-		code = fw.image
-		groups = self.__split_len(code, uploader.PROG_MULTI_MAX)
-		for bytes in groups:
-			self.__program_multi(bytes)
-
-	# verify code
-	def __verify_v2(self, fw):
-		self.__send(uploader.CHIP_VERIFY
-				+ uploader.EOC)
-		self.__getSync()
-		code = fw.image
-		groups = self.__split_len(code, uploader.READ_MULTI_MAX)
-		for bytes in groups:
-			if (not self.__verify_multi(bytes)):
-				raise RuntimeError("Verification failed")
-
-	def __verify_v3(self, fw):
-		expect_crc = fw.crc(self.fw_maxsize)
-		self.__send(uploader.GET_CRC
-				+ uploader.EOC)
-		report_crc = self.__recv_int()
-		self.__getSync()
-		if report_crc != expect_crc:
-			print(("Expected 0x%x" % expect_crc))
-			print(("Got      0x%x" % report_crc))
-			raise RuntimeError("Program CRC failed")
-
-	# get basic data about the board
-	def identify(self):
-		# make sure we are in sync before starting
-		self.__sync()
-
-		# get the bootloader protocol ID first
-		self.bl_rev = self.__getInfo(uploader.INFO_BL_REV)
-		if (self.bl_rev < uploader.BL_REV_MIN) or (self.bl_rev > uploader.BL_REV_MAX):
-			print(("Unsupported bootloader protocol %d" % uploader.INFO_BL_REV))
-			raise RuntimeError("Bootloader protocol mismatch")
-
-		self.board_type = self.__getInfo(uploader.INFO_BOARD_ID)
-		self.board_rev = self.__getInfo(uploader.INFO_BOARD_REV)
-		self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE)
-
-	# upload the firmware
-	def upload(self, fw):
-		# Make sure we are doing the right thing
-		if self.board_type != fw.property('board_id'):
-			raise RuntimeError("Firmware not suitable for this board (run 'make configure_px4fmu && make clean' or 'make configure_px4io && make clean' to reconfigure).")
-		if self.fw_maxsize < fw.property('image_size'):
-			raise RuntimeError("Firmware image is too large for this board")
-
-		print("erase...")
-		self.__erase()
-
-		print("program...")
-		self.__program(fw)
-
-		print("verify...")
-		if self.bl_rev == 2:
-			self.__verify_v2(fw)
-		else:
-			self.__verify_v3(fw)
-
-		print("done, rebooting.")
-		self.__reboot()
-		self.port.close()
-	
+        '''Uploads a firmware file to the PX FMU bootloader'''
+
+        # protocol bytes
+        INSYNC          = chr(0x12)
+        EOC             = chr(0x20)
+
+        # reply bytes
+        OK              = chr(0x10)
+        FAILED          = chr(0x11)
+        INVALID         = chr(0x13)     # rev3+
+
+        # command bytes
+        NOP             = chr(0x00)     # guaranteed to be discarded by the bootloader
+        GET_SYNC        = chr(0x21)
+        GET_DEVICE      = chr(0x22)
+        CHIP_ERASE      = chr(0x23)
+        CHIP_VERIFY     = chr(0x24)     # rev2 only
+        PROG_MULTI      = chr(0x27)
+        READ_MULTI      = chr(0x28)     # rev2 only
+        GET_CRC         = chr(0x29)     # rev3+
+        REBOOT          = chr(0x30)
+        
+        INFO_BL_REV     = chr(1)        # bootloader protocol revision
+        BL_REV_MIN      = 2             # minimum supported bootloader protocol 
+        BL_REV_MAX      = 3             # maximum supported bootloader protocol 
+        INFO_BOARD_ID   = chr(2)        # board type
+        INFO_BOARD_REV  = chr(3)        # board revision
+        INFO_FLASH_SIZE = chr(4)        # max firmware size in bytes
+
+        PROG_MULTI_MAX  = 60            # protocol max is 255, must be multiple of 4
+        READ_MULTI_MAX  = 60            # protocol max is 255, something overflows with >= 64
+
+        def __init__(self, portname, baudrate):
+                # open the port, keep the default timeout short so we can poll quickly
+                self.port = serial.Serial(portname, baudrate, timeout=0.5)
+
+        def close(self):
+                if self.port is not None:
+                        self.port.close()
+
+        def __send(self, c):
+#               print("send " + binascii.hexlify(c))
+                self.port.write(str(c))
+
+        def __recv(self, count=1):
+                c = self.port.read(count)
+                if len(c) < 1:
+                        raise RuntimeError("timeout waiting for data")
+#               print("recv " + binascii.hexlify(c))
+                return c
+
+        def __recv_int(self):
+                raw = self.__recv(4)
+                val = struct.unpack("<I", raw)
+                return val[0]
+
+        def __getSync(self):
+                self.port.flush()
+                c = self.__recv()
+                if c is not self.INSYNC:
+                        raise RuntimeError("unexpected 0x%x instead of INSYNC" % ord(c))
+                c = self.__recv()
+                if c == self.INVALID:
+                        raise RuntimeError("bootloader reports INVALID OPERATION")
+                if c == self.FAILED:
+                        raise RuntimeError("bootloader reports OPERATION FAILED")
+                if c != self.OK:
+                        raise RuntimeError("unexpected response 0x%x instead of OK" % ord(c))
+
+        # attempt to get back into sync with the bootloader
+        def __sync(self):
+                # send a stream of ignored bytes longer than the longest possible conversation
+                # that we might still have in progress
+#               self.__send(uploader.NOP * (uploader.PROG_MULTI_MAX + 2))
+                self.port.flushInput()
+                self.__send(uploader.GET_SYNC
+                            + uploader.EOC)
+                self.__getSync()
+
+#       def __trySync(self):
+#               c = self.__recv()
+#               if (c != self.INSYNC):
+#                       #print("unexpected 0x%x instead of INSYNC" % ord(c))
+#                       return False;
+#               c = self.__recv()
+#               if (c != self.OK):
+#                       #print("unexpected 0x%x instead of OK" % ord(c))
+#                       return False
+#               return True
+
+        # send the GET_DEVICE command and wait for an info parameter
+        def __getInfo(self, param):
+                self.__send(uploader.GET_DEVICE + param + uploader.EOC)
+                value = self.__recv_int()
+                self.__getSync()
+                return value
+
+        # send the CHIP_ERASE command and wait for the bootloader to become ready
+        def __erase(self):
+                self.__send(uploader.CHIP_ERASE
+                            + uploader.EOC)
+                # erase is very slow, give it 20s
+                deadline = time.time() + 20
+                while time.time() < deadline:
+                        try:
+                                self.__getSync()
+                                return
+                        except RuntimeError:
+                                # we timed out, that's OK
+                                continue
+
+                raise RuntimeError("timed out waiting for erase")
+
+        # send a PROG_MULTI command to write a collection of bytes
+        def __program_multi(self, data):
+                self.__send(uploader.PROG_MULTI
+                            + chr(len(data)))
+                self.__send(data)
+                self.__send(uploader.EOC)
+                self.__getSync()
+
+        # verify multiple bytes in flash
+        def __verify_multi(self, data):
+                self.__send(uploader.READ_MULTI
+                            + chr(len(data))
+                            + uploader.EOC)
+                self.port.flush()
+                programmed = self.__recv(len(data))
+                if programmed != data:
+                        print("got    " + binascii.hexlify(programmed))
+                        print("expect " + binascii.hexlify(data))
+                        return False
+                self.__getSync()
+                return True
+
+        # send the reboot command
+        def __reboot(self):
+                self.__send(uploader.REBOOT
+                            + uploader.EOC)
+                self.port.flush()
+
+                # v3+ can report failure if the first word flash fails
+                if self.bl_rev >= 3:
+                        self.__getSync()
+
+        # split a sequence into a list of size-constrained pieces
+        def __split_len(self, seq, length):
+                return [seq[i:i+length] for i in range(0, len(seq), length)]
+
+        # upload code
+        def __program(self, fw):
+                code = fw.image
+                groups = self.__split_len(code, uploader.PROG_MULTI_MAX)
+                for bytes in groups:
+                        self.__program_multi(bytes)
+
+        # verify code
+        def __verify_v2(self, fw):
+                self.__send(uploader.CHIP_VERIFY
+                            + uploader.EOC)
+                self.__getSync()
+                code = fw.image
+                groups = self.__split_len(code, uploader.READ_MULTI_MAX)
+                for bytes in groups:
+                        if (not self.__verify_multi(bytes)):
+                                raise RuntimeError("Verification failed")
+
+        def __verify_v3(self, fw):
+                expect_crc = fw.crc(self.fw_maxsize)
+                self.__send(uploader.GET_CRC
+                            + uploader.EOC)
+                report_crc = self.__recv_int()
+                self.__getSync()
+                if report_crc != expect_crc:
+                        print("Expected 0x%x" % expect_crc)
+                        print("Got      0x%x" % report_crc)
+                        raise RuntimeError("Program CRC failed")
+
+        # get basic data about the board
+        def identify(self):
+                # make sure we are in sync before starting
+                self.__sync()
+
+                # get the bootloader protocol ID first
+                self.bl_rev = self.__getInfo(uploader.INFO_BL_REV)
+                if (self.bl_rev < uploader.BL_REV_MIN) or (self.bl_rev > uploader.BL_REV_MAX):
+                        print("Unsupported bootloader protocol %d" % uploader.INFO_BL_REV)
+                        raise RuntimeError("Bootloader protocol mismatch")
+
+                self.board_type = self.__getInfo(uploader.INFO_BOARD_ID)
+                self.board_rev = self.__getInfo(uploader.INFO_BOARD_REV)
+                self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE)
+
+        # upload the firmware
+        def upload(self, fw):
+                # Make sure we are doing the right thing
+                if self.board_type != fw.property('board_id'):
+                        raise RuntimeError("Firmware not suitable for this board")
+                if self.fw_maxsize < fw.property('image_size'):
+                        raise RuntimeError("Firmware image is too large for this board")
+
+                print("erase...")
+                self.__erase()
+
+                print("program...")
+                self.__program(fw)
+
+                print("verify...")
+                if self.bl_rev == 2:
+                        self.__verify_v2(fw)
+                else:
+                        self.__verify_v3(fw)
+
+                print("done, rebooting.")
+                self.__reboot()
+                self.port.close()
+
 
 # Parse commandline arguments
 parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.")
@@ -360,57 +361,57 @@ args = parser.parse_args()
 
 # Load the firmware file
 fw = firmware(args.firmware)
-print(("Loaded firmware for %x,%x, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision'))))
+print("Loaded firmware for %x,%x, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision')))
 
 # Spin waiting for a device to show up
 while True:
-	for port in args.port.split(","):
-
-		#print("Trying %s" % port)
-
-		# create an uploader attached to the port
-		try:
-			if "linux" in _platform:
-			# Linux, don't open Mac OS and Win ports
-				if not "COM" in port and not "tty.usb" in port:
-					up = uploader(port, args.baud)
-			elif "darwin" in _platform:
-				# OS X, don't open Windows and Linux ports
-				if not "COM" in port and not "ACM" in port:
-					up = uploader(port, args.baud)
-			elif "win" in _platform:
-				# Windows, don't open POSIX ports
-				if not "/" in port:
-					up = uploader(port, args.baud)
-		except:
-			# open failed, rate-limit our attempts
-			time.sleep(0.05)
-
-			# and loop to the next port
-			continue
-
-		# port is open, try talking to it
-		try:
-			# identify the bootloader
-			up.identify()
-			print(("Found board %x,%x bootloader rev %x on %s" % (up.board_type, up.board_rev, up.bl_rev, port)))
-
-		except:
-			# most probably a timeout talking to the port, no bootloader
-			continue
-
-		try:
-			# ok, we have a bootloader, try flashing it
-			up.upload(fw)
-
-		except RuntimeError as ex:
-
-			# print the error
-			print(("ERROR: %s" % ex.args))
-
-		finally:
-			# always close the port
-			up.close()
-
-		# we could loop here if we wanted to wait for more boards...
-		sys.exit(0)
+        for port in args.port.split(","):
+
+                #print("Trying %s" % port)
+
+                # create an uploader attached to the port
+                try:
+                        if "linux" in _platform:
+                        # Linux, don't open Mac OS and Win ports
+                                if not "COM" in port and not "tty.usb" in port:
+                                        up = uploader(port, args.baud)
+                        elif "darwin" in _platform:
+                                # OS X, don't open Windows and Linux ports
+                                if not "COM" in port and not "ACM" in port:
+                                        up = uploader(port, args.baud)
+                        elif "win" in _platform:
+                                # Windows, don't open POSIX ports
+                                if not "/" in port:
+                                        up = uploader(port, args.baud)
+                except:
+                        # open failed, rate-limit our attempts
+                        time.sleep(0.05)
+
+                        # and loop to the next port
+                        continue
+
+                # port is open, try talking to it
+                try:
+                        # identify the bootloader
+                        up.identify()
+                        print("Found board %x,%x bootloader rev %x on %s" % (up.board_type, up.board_rev, up.bl_rev, port))
+
+                except:
+                        # most probably a timeout talking to the port, no bootloader
+                        continue
+
+                try:
+                        # ok, we have a bootloader, try flashing it
+                        up.upload(fw)
+
+                except RuntimeError as ex:
+
+                        # print the error
+                        print("ERROR: %s" % ex.args)
+
+                finally:
+                        # always close the port
+                        up.close()
+
+                # we could loop here if we wanted to wait for more boards...
+                sys.exit(0)
diff --git a/apps/attitude_estimator_ekf/Makefile b/apps/attitude_estimator_ekf/Makefile
deleted file mode 100755
index 46a54c660..000000000
--- a/apps/attitude_estimator_ekf/Makefile
+++ /dev/null
@@ -1,57 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-APPNAME		 = attitude_estimator_ekf
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-CXXSRCS		 = attitude_estimator_ekf_main.cpp
-
-CSRCS		 = attitude_estimator_ekf_params.c \
-		   codegen/eye.c \
-		   codegen/attitudeKalmanfilter.c \
-		   codegen/mrdivide.c \
-		   codegen/rdivide.c \
-		   codegen/attitudeKalmanfilter_initialize.c \
-		   codegen/attitudeKalmanfilter_terminate.c \
-		   codegen/rt_nonfinite.c \
-		   codegen/rtGetInf.c \
-		   codegen/rtGetNaN.c \
-		   codegen/norm.c \
-		   codegen/cross.c 
-
-
-# XXX this is *horribly* broken
-INCLUDES	+= $(TOPDIR)/../mavlink/include/mavlink
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/commander/.context b/apps/commander/.context
deleted file mode 100644
index e69de29bb..000000000
--- a/apps/commander/.context
+++ /dev/null
diff --git a/apps/commander/Makefile b/apps/commander/Makefile
deleted file mode 100644
index d12697274..000000000
--- a/apps/commander/Makefile
+++ /dev/null
@@ -1,45 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Commander application
-#
-
-APPNAME		 = commander
-PRIORITY	 = SCHED_PRIORITY_MAX - 30
-STACKSIZE	 = 2048
-
-INCLUDES	= $(TOPDIR)/../mavlink/include/mavlink
-
-include $(APPDIR)/mk/app.mk
-
diff --git a/apps/drivers/boards/px4fmu/Makefile b/apps/drivers/boards/px4fmu/Makefile
deleted file mode 100644
index 6b183d8d2..000000000
--- a/apps/drivers/boards/px4fmu/Makefile
+++ /dev/null
@@ -1,41 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Board-specific startup code for the PX4FMU
-#
-
-INCLUDES	 = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
-LIBNAME		 = brd_px4fmu
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/drivers/px4fmu/Makefile b/apps/drivers/px4fmu/Makefile
deleted file mode 100644
index 7f7c2a732..000000000
--- a/apps/drivers/px4fmu/Makefile
+++ /dev/null
@@ -1,44 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Interface driver for the PX4FMU board
-#
-
-APPNAME		 = fmu
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-INCLUDES	 = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp
index 1f3f7707e..123bbb120 100644
--- a/apps/sensors/sensors.cpp
+++ b/apps/sensors/sensors.cpp
@@ -372,7 +372,9 @@ Sensors	*g_sensors;
 }
 
 Sensors::Sensors() :
+#ifdef CONFIG_HRT_PPM
 	_ppm_last_valid(0),
+#endif
 
 	_fd_adc(-1),
 	_last_adc(0),
diff --git a/apps/systemcmds/eeprom/Makefile b/apps/systemcmds/eeprom/Makefile
deleted file mode 100644
index 58c8cb5ec..000000000
--- a/apps/systemcmds/eeprom/Makefile
+++ /dev/null
@@ -1,45 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Build the eeprom tool.
-#
-
-APPNAME		 = eeprom
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 4096
-MAXOPTIMIZATION	 = -Os
-
-include $(APPDIR)/mk/app.mk
-
-MAXOPTIMIZATION	 = -Os
diff --git a/makefiles/board_px4fmu.mk b/makefiles/board_px4fmu.mk
index 959e4ed26..837069644 100644
--- a/makefiles/board_px4fmu.mk
+++ b/makefiles/board_px4fmu.mk
@@ -1,5 +1,5 @@
 #
-# Platform-specific definitions for the PX4FMU
+# Board-specific definitions for the PX4FMU
 #
 
 #
diff --git a/makefiles/board_px4io.mk b/makefiles/board_px4io.mk
index 275014aba..b0eb2dae7 100644
--- a/makefiles/board_px4io.mk
+++ b/makefiles/board_px4io.mk
@@ -1,5 +1,5 @@
 #
-# Platform-specific definitions for the PX4IO
+# Board-specific definitions for the PX4IO
 #
 
 #
diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk
index a6d766511..3f634d72c 100644
--- a/makefiles/config_px4fmu_default.mk
+++ b/makefiles/config_px4fmu_default.mk
@@ -5,7 +5,26 @@
 #
 # Use the configuration's ROMFS.
 #
-ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/$(CONFIG)
+ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_common
+
+#
+# Board support modules
+#
+MODULES		+= drivers/px4fmu
+MODULES		+= drivers/boards/px4fmu
+MODULES		+= drivers/l3gd20
+MODULES		+= drivers/ardrone_interface
+MODULES		+= systemcmds/eeprom
+
+#
+# General system control
+#
+MODULES		+= modules/commander
+
+#
+# Estimation modules (EKF / other filters)
+#
+#MODULES		+= modules/attitude_estimator_ekf
 
 #
 # Transitional support - add commands from the NuttX export archive.
@@ -22,25 +41,19 @@ endef
 #                  command                 priority                   stack  entrypoint
 BUILTIN_COMMANDS := \
 	$(call _B, adc,                    ,                          2048,  adc_main                   ) \
-	$(call _B, ardrone_interface,      SCHED_PRIORITY_MAX-15,     2048,  ardrone_interface_main     ) \
-	$(call _B, attitude_estimator_ekf, ,                          2048,  attitude_estimator_ekf_main) \
 	$(call _B, bl_update,              ,                          4096,  bl_update_main             ) \
 	$(call _B, blinkm,                 ,                          2048,  blinkm_main                ) \
 	$(call _B, bma180,                 ,                          2048,  bma180_main                ) \
 	$(call _B, boardinfo,              ,                          2048,  boardinfo_main             ) \
-	$(call _B, commander,              SCHED_PRIORITY_MAX-30,     2048,  commander_main             ) \
 	$(call _B, control_demo,           ,                          2048,  control_demo_main          ) \
 	$(call _B, delay_test,             ,                          2048,  delay_test_main            ) \
-	$(call _B, eeprom,                 ,                          4096,  eeprom_main                ) \
 	$(call _B, fixedwing_att_control,  SCHED_PRIORITY_MAX-30,     2048,  fixedwing_att_control_main ) \
 	$(call _B, fixedwing_pos_control,  SCHED_PRIORITY_MAX-30,     2048,  fixedwing_pos_control_main ) \
-	$(call _B, fmu,                    ,                          2048,  fmu_main                   ) \
 	$(call _B, gps,                    ,                          2048,  gps_main                   ) \
 	$(call _B, hil,                    ,                          2048,  hil_main                   ) \
 	$(call _B, hmc5883,                ,                          4096,  hmc5883_main               ) \
 	$(call _B, hott_telemetry,         ,                          2048,  hott_telemetry_main        ) \
 	$(call _B, kalman_demo,            SCHED_PRIORITY_MAX-30,     2048,  kalman_demo_main           ) \
-	$(call _B, l3gd20,                 ,                          2048,  l3gd20_main                ) \
 	$(call _B, math_demo,              ,                          8192,  math_demo_main             ) \
 	$(call _B, mavlink,                ,                          2048,  mavlink_main               ) \
 	$(call _B, mavlink_onboard,        ,                          2048,  mavlink_onboard_main       ) \
@@ -62,4 +75,5 @@ BUILTIN_COMMANDS := \
 	$(call _B, tests,                  ,                          12000, tests_main                 ) \
 	$(call _B, tone_alarm,             ,                          2048,  tone_alarm_main            ) \
 	$(call _B, top,                    SCHED_PRIORITY_DEFAULT-10, 3000,  top_main                   ) \
+	$(call _B, param,                  SCHED_PRIORITY_DEFAULT-10, 2048,  param_main                 ) \
 	$(call _B, uorb,                   ,                          4096,  uorb_main                  )
diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk
index dad57d531..fff0e1c65 100644
--- a/makefiles/firmware.mk
+++ b/makefiles/firmware.mk
@@ -64,7 +64,16 @@
 #	path to this file.
 #
 # CONFIG:
-#	Used to set the output filename; defaults to 'firmware'.
+#	Used when searching for the configuration file, and available
+#	to module Makefiles to select optional features.
+#	If not set, CONFIG_FILE must be set and CONFIG will be derived
+#	automatically from it.
+#
+# CONFIG_FILE:
+#	If set, overrides the configuration file search logic. Sets
+#	CONFIG to the name of the configuration file, strips any
+#	leading config_ prefix and any suffix. e.g. config_board_foo.mk
+#	results in CONFIG being set to 'board_foo'.
 #
 # WORK_DIR:
 #	Sets the directory in which the firmware will be built. Defaults
@@ -92,11 +101,14 @@
 # If PX4_BASE wasn't set previously, work out what it should be
 # and set it here now.
 #
-MK_DIR	?= $(dir $(lastword $(MAKEFILE_LIST)))
+MK_DIR			?= $(dir $(lastword $(MAKEFILE_LIST)))
 ifeq ($(PX4_BASE),)
 export PX4_BASE		:= $(abspath $(MK_DIR)/..)
 endif
 $(info %  PX4_BASE            = $(PX4_BASE))
+ifneq ($(words $(PX4_BASE)),1)
+$(error Cannot build when the PX4_BASE path contains one or more space characters.)
+endif
 
 #
 # Set a default target so that included makefiles or errors here don't 
@@ -115,13 +127,14 @@ include $(MK_DIR)/setup.mk
 #
 # Locate the configuration file
 #
+ifneq ($(CONFIG_FILE),)
+CONFIG			:= $(subst config_,,$(basename $(notdir $(CONFIG_FILE))))
+else
+CONFIG_FILE		:= $(wildcard $(PX4_MK_DIR)/config_$(CONFIG).mk)
+endif
 ifeq ($(CONFIG),)
 $(error Missing configuration name or file (specify with CONFIG=<config>))
 endif
-CONFIG_FILE		:= $(firstword $(wildcard $(CONFIG)) $(wildcard $(PX4_MK_DIR)/config_$(CONFIG).mk))
-ifeq ($(CONFIG_FILE),)
-$(error Can't find a config file called $(CONFIG) or $(PX4_MK_DIR)/config_$(CONFIG).mk)
-endif
 export CONFIG
 include $(CONFIG_FILE)
 $(info %  CONFIG              = $(CONFIG))
@@ -211,10 +224,7 @@ MODULE_OBJS		:= $(foreach path,$(dir $(MODULE_MKFILES)),$(WORK_DIR)$(path)module
 $(MODULE_OBJS):		relpath = $(patsubst $(WORK_DIR)%,%,$@)
 $(MODULE_OBJS):		mkfile = $(patsubst %module.pre.o,%module.mk,$(relpath))
 $(MODULE_OBJS):		$(GLOBAL_DEPS) $(NUTTX_CONFIG_HEADER)
-	@$(ECHO) %%
-	@$(ECHO) %% Building module using $(mkfile)
-	@$(ECHO) %%
-	$(Q) $(MAKE) -f $(PX4_MK_DIR)module.mk \
+	$(Q) $(MAKE) -r -f $(PX4_MK_DIR)module.mk \
 		MODULE_WORK_DIR=$(dir $@) \
 		MODULE_OBJ=$@ \
 		MODULE_MK=$(mkfile) \
@@ -230,7 +240,7 @@ $(MODULE_CLEANS):	relpath = $(patsubst $(WORK_DIR)%,%,$@)
 $(MODULE_CLEANS):	mkfile = $(patsubst %clean,%module.mk,$(relpath))
 $(MODULE_CLEANS):
 	@$(ECHO) %% cleaning using $(mkfile)
-	$(Q) $(MAKE) -f $(PX4_MK_DIR)module.mk \
+	$(Q) $(MAKE) -r -f $(PX4_MK_DIR)module.mk \
 	MODULE_WORK_DIR=$(dir $@) \
 	MODULE_MK=$(mkfile) \
 	clean
@@ -246,6 +256,9 @@ include $(PX4_MK_DIR)/nuttx.mk
 ################################################################################
 
 ifneq ($(ROMFS_ROOT),)
+ifeq ($(wildcard $(ROMFS_ROOT)),)
+$(error ROMFS_ROOT specifies a directory that does not exist)
+endif
 
 #
 # Note that there is no support for more than one root directory or constructing
@@ -272,7 +285,7 @@ $(ROMFS_OBJ): $(ROMFS_IMG) $(GLOBAL_DEPS)
 
 # Generate the ROMFS image from the root
 $(ROMFS_IMG): $(ROMFS_DEPS) $(GLOBAL_DEPS)
-	@$(ECHO) %% generating $@
+	@$(ECHO) "ROMFS:   $@"
 	$(Q) $(GENROMFS) -f $@ -d $(ROMFS_ROOT) -V "NSHInitVol"
 
 EXTRA_CLEANS		+= $(ROMGS_OBJ) $(ROMFS_IMG)
@@ -298,10 +311,12 @@ endif
 #
 BUILTIN_CSRC		 = $(WORK_DIR)builtin_commands.c
 
-# add command definitions from modules
-BUILTIN_COMMAND_FILES	:= $(wildcard $(WORK_DIR)builtin_commands/COMMAND.*)
-BUILTIN_COMMANDS	+= $(subst COMMAND.,,$(notdir $(BUILTIN_COMMAND_FILES)))
+# command definitions from modules (may be empty at Makefile parsing time...)
+MODULE_COMMANDS		 = $(subst COMMAND.,,$(notdir $(wildcard $(WORK_DIR)builtin_commands/COMMAND.*)))
 
+# We must have at least one pre-defined builtin command in order to generate
+# any of this.
+#
 ifneq ($(BUILTIN_COMMANDS),)
 
 # (BUILTIN_PROTO,<cmdspec>,<outputfile>)
@@ -315,17 +330,19 @@ define BUILTIN_DEF
 endef
 
 # Don't generate until modules have updated their command files
-$(BUILTIN_CSRC):	$(GLOBAL_DEPS) $(BUILTIN_COMMAND_FILES)
-	@$(ECHO) %% generating $@
+$(BUILTIN_CSRC):	$(GLOBAL_DEPS) $(MODULE_OBJS) $(BUILTIN_COMMAND_FILES)
+	@$(ECHO) "CMDS:    $@"
 	$(Q) $(ECHO) '/* builtin command list - automatically generated, do not edit */' > $@
 	$(Q) $(ECHO) '#include <nuttx/config.h>' >> $@
 	$(Q) $(ECHO) '#include <nuttx/binfmt/builtin.h>' >> $@
 	$(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_PROTO,$(subst ., ,$(spec)),$@))
+	$(Q) $(foreach spec,$(MODULE_COMMANDS),$(call BUILTIN_PROTO,$(subst ., ,$(spec)),$@))
 	$(Q) $(ECHO) 'const struct builtin_s g_builtins[] = {' >> $@
 	$(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_DEF,$(subst ., ,$(spec)),$@))
+	$(Q) $(foreach spec,$(MODULE_COMMANDS),$(call BUILTIN_DEF,$(subst ., ,$(spec)),$@))
 	$(Q) $(ECHO) '    {NULL, 0, 0, NULL}' >> $@
 	$(Q) $(ECHO) '};' >> $@
-	$(Q) $(ECHO) 'const int g_builtin_count = $(words $(BUILTIN_COMMANDS));' >> $@
+	$(Q) $(ECHO) 'const int g_builtin_count = $(words $(BUILTIN_COMMANDS) $(MODULE_COMMANDS));' >> $@
 
 SRCS			+= $(BUILTIN_CSRC)
 
@@ -358,7 +375,7 @@ endif
 #
 PRODUCT_BUNDLE		 = $(WORK_DIR)firmware.px4
 PRODUCT_BIN		 = $(WORK_DIR)firmware.bin
-PRODUCT_SYM		 = $(WORK_DIR)firmware.sym
+PRODUCT_ELF		 = $(WORK_DIR)firmware.elf
 
 .PHONY:			firmware
 firmware:		$(PRODUCT_BUNDLE)
@@ -393,10 +410,10 @@ $(PRODUCT_BUNDLE):	$(PRODUCT_BIN)
 		--git_identity $(PX4_BASE) \
 		--image $< > $@
 
-$(PRODUCT_BIN):		$(PRODUCT_SYM)
+$(PRODUCT_BIN):		$(PRODUCT_ELF)
 	$(call SYM_TO_BIN,$<,$@)
 
-$(PRODUCT_SYM):		$(OBJS) $(MODULE_OBJS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
+$(PRODUCT_ELF):		$(OBJS) $(MODULE_OBJS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
 	$(call LINK,$@,$(OBJS) $(MODULE_OBJS))
 
 #
@@ -407,17 +424,19 @@ $(PRODUCT_SYM):		$(OBJS) $(MODULE_OBJS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKF
 upload:	$(PRODUCT_BUNDLE) $(PRODUCT_BIN)
 	$(Q) $(MAKE) -f $(PX4_MK_DIR)/upload.mk \
 		METHOD=serial \
-		PRODUCT=$(PRODUCT) \
+		CONFIG=$(CONFIG) \
+		BOARD=$(BOARD) \
 		BUNDLE=$(PRODUCT_BUNDLE) \
 		BIN=$(PRODUCT_BIN)
 
 .PHONY: clean
 clean:			$(MODULE_CLEANS)
 	@$(ECHO) %% cleaning
-	$(Q) $(REMOVE) $(PRODUCT_BUNDLE) $(PRODUCT_BIN) $(PRODUCT_SYM)
+	$(Q) $(REMOVE) $(PRODUCT_BUNDLE) $(PRODUCT_BIN) $(PRODUCT_ELF)
 	$(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES) $(EXTRA_CLEANS)
 	$(Q) $(RMDIR) $(NUTTX_EXPORT_DIR)
 
+
 #
 # DEP_INCLUDES is defined by the toolchain include in terms of $(OBJS)
 #
diff --git a/makefiles/module.mk b/makefiles/module.mk
index 8b01d0a12..538f6d318 100644
--- a/makefiles/module.mk
+++ b/makefiles/module.mk
@@ -75,6 +75,18 @@
 #	the list should be formatted as: 
 #		<command>.<priority>.<stacksize>.<entrypoint>
 #
+# INCLUDE_DIRS		(optional, must be appended)
+#
+#	The list of directories searched for include files. If non-standard
+#	includes (e.g. those from another module) are required, paths to search
+#	can be added here.
+#
+# DEFAULT_VISIBILITY	(optional)
+#
+#	If not set, global symbols defined in a module will not be visible 
+#	outside the module. Symbols that should be globally visible must be
+#	marked __EXPORT.
+#	If set, global symbols defined in a module will be globally visible.
 #
 
 #
@@ -96,12 +108,7 @@
 ifeq ($(MODULE_MK),)
 $(error No module makefile specified)
 endif
-$(info %  MODULE_MK           = $(MODULE_MK))
-
-#
-# Get path and tool config
-#
-include $(PX4_BASE)/makefiles/setup.mk
+$(info %% MODULE_MK           = $(MODULE_MK))
 
 #
 # Get the board/toolchain config
@@ -144,13 +151,26 @@ MODULE_COMMAND_FILES	:= $(addprefix $(WORK_DIR)/builtin_commands/COMMAND.,$(MODU
 $(MODULE_COMMAND_FILES): command = $(word 2,$(subst ., ,$(notdir $(@))))
 $(MODULE_COMMAND_FILES): exclude = $(dir $@)COMMAND.$(command).*
 $(MODULE_COMMAND_FILES): $(GLOBAL_DEPS)
-	@$(ECHO) COMMAND:    $(command)
 	@$(REMOVE) -f $(exclude)
 	@$(MKDIR) -p $(dir $@)
+	@echo "CMD:     $(command)"
 	$(Q) $(TOUCH) $@
 endif
 
 ################################################################################
+# Adjust compilation flags to implement EXPORT
+################################################################################
+
+ifeq ($(DEFAULT_VISIBILITY),)
+DEFAULT_VISIBILITY = hidden
+else
+DEFAULT_VISIBILITY = default
+endif
+
+CFLAGS		+= -fvisibility=$(DEFAULT_VISIBILITY) -include $(PX4_INCLUDE_DIR)visibility.h
+CXXFLAGS	+= -fvisibility=$(DEFAULT_VISIBILITY) -include $(PX4_INCLUDE_DIR)visibility.h
+
+################################################################################
 # Build rules
 ################################################################################
 
diff --git a/makefiles/nuttx.mk b/makefiles/nuttx.mk
index c6e2c86d1..346735a02 100644
--- a/makefiles/nuttx.mk
+++ b/makefiles/nuttx.mk
@@ -63,7 +63,10 @@ LDSCRIPT		+= $(NUTTX_EXPORT_DIR)build/ld.script
 #
 # Add directories from the NuttX export to the relevant search paths
 #
-INCLUDE_DIRS		+= $(NUTTX_EXPORT_DIR)include
+INCLUDE_DIRS		+= $(NUTTX_EXPORT_DIR)include \
+			   $(NUTTX_EXPORT_DIR)arch/chip \
+			   $(NUTTX_EXPORT_DIR)arch/common
+
 LIB_DIRS		+= $(NUTTX_EXPORT_DIR)libs
 LIBS			+= -lapps -lnuttx
 LINK_DEPS		+= $(NUTTX_EXPORT_DIR)libs/libapps.a \
@@ -71,5 +74,5 @@ LINK_DEPS		+= $(NUTTX_EXPORT_DIR)libs/libapps.a \
 
 $(NUTTX_CONFIG_HEADER):	$(NUTTX_ARCHIVE)
 	@$(ECHO) %% Unpacking $(NUTTX_ARCHIVE)
-	$(Q) $(UNZIP) -q -o -d $(WORK_DIR) $(NUTTX_ARCHIVE)
+	$(Q) $(UNZIP_CMD) -q -o -d $(WORK_DIR) $(NUTTX_ARCHIVE)
 	$(Q) $(TOUCH) $@
diff --git a/makefiles/setup.mk b/makefiles/setup.mk
index 8e7a00ef4..b798f7cab 100644
--- a/makefiles/setup.mk
+++ b/makefiles/setup.mk
@@ -41,7 +41,8 @@
 # the number of duplicate slashes we have lying around in paths,
 # and is consistent with joining the results of $(dir) and $(notdir).
 #
-export PX4_MODULE_SRC	 = $(abspath $(PX4_BASE)/src/modules)/
+export PX4_INCLUDE_DIR	 = $(abspath $(PX4_BASE)/src/include)/
+export PX4_MODULE_SRC	 = $(abspath $(PX4_BASE)/src)/
 export PX4_MK_DIR	 = $(abspath $(PX4_BASE)/makefiles)/
 export NUTTX_SRC	 = $(abspath $(PX4_BASE)/nuttx)/
 export NUTTX_APP_SRC	 = $(abspath $(PX4_BASE)/apps)/
@@ -52,23 +53,32 @@ export BUILD_DIR	 = $(abspath $(PX4_BASE)/Build)/
 export ARCHIVE_DIR	 = $(abspath $(PX4_BASE)/Archives)/
 
 #
+# Default include paths
+#
+export INCLUDE_DIRS	:= $(PX4_MODULE_SRC) \
+			   $(PX4_INCLUDE_DIR)
+
+# Include from legacy app/library path
+export INCLUDE_DIRS	+= $(NUTTX_APP_SRC)
+
+#
 # Tools
 #
-MKFW			 = $(PX4_BASE)/Tools/px_mkfw.py
-UPLOADER		 = $(PX4_BASE)/Tools/px_uploader.py
-COPY			 = cp
-REMOVE			 = rm -f
-RMDIR			 = rm -rf
-GENROMFS		 = genromfs
-TOUCH			 = touch
-MKDIR			 = mkdir
-ECHO			 = echo
-UNZIP			 = unzip
+export MKFW		 = $(PX4_BASE)/Tools/px_mkfw.py
+export UPLOADER		 = $(PX4_BASE)/Tools/px_uploader.py
+export COPY		 = cp
+export REMOVE		 = rm -f
+export RMDIR		 = rm -rf
+export GENROMFS		 = genromfs
+export TOUCH		 = touch
+export MKDIR		 = mkdir
+export ECHO		 = echo
+export UNZIP_CMD	 = unzip
 
 #
 # Host-specific paths, hacks and fixups
 #
-SYSTYPE			:= $(shell uname -s)
+export SYSTYPE		:= $(shell uname -s)
 
 ifeq ($(SYSTYPE),Darwin)
 # Eclipse may not have the toolchain on its path.
diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk
index d214006be..5e6a5bf04 100644
--- a/makefiles/toolchain_gnu-arm-eabi.mk
+++ b/makefiles/toolchain_gnu-arm-eabi.mk
@@ -157,6 +157,7 @@ CXXFLAGS		 = $(ARCHCXXFLAGS) \
 			   $(INSTRUMENTATIONDEFINES) \
 			   $(ARCHDEFINES) \
 			   $(EXTRADEFINES) \
+			   -DCONFIG_WCHAR_BUILTIN \
 			   $(addprefix -I,$(INCLUDE_DIRS))
 
 # Flags we pass to the assembler
diff --git a/makefiles/upload.mk b/makefiles/upload.mk
index 5308aaa3e..f23d6ae41 100644
--- a/makefiles/upload.mk
+++ b/makefiles/upload.mk
@@ -21,11 +21,11 @@ ifeq ($(SERIAL_PORTS),)
 SERIAL_PORTS		 = "\\\\.\\COM32,\\\\.\\COM31,\\\\.\\COM30,\\\\.\\COM29,\\\\.\\COM28,\\\\.\\COM27,\\\\.\\COM26,\\\\.\\COM25,\\\\.\\COM24,\\\\.\\COM23,\\\\.\\COM22,\\\\.\\COM21,\\\\.\\COM20,\\\\.\\COM19,\\\\.\\COM18,\\\\.\\COM17,\\\\.\\COM16,\\\\.\\COM15,\\\\.\\COM14,\\\\.\\COM13,\\\\.\\COM12,\\\\.\\COM11,\\\\.\\COM10,\\\\.\\COM9,\\\\.\\COM8,\\\\.\\COM7,\\\\.\\COM6,\\\\.\\COM5,\\\\.\\COM4,\\\\.\\COM3,\\\\.\\COM2,\\\\.\\COM1,\\\\.\\COM0"
 endif
 
-.PHONY:	all upload-$(METHOD)-$(PRODUCT)
-all:	upload-$(METHOD)-$(PRODUCT)
+.PHONY:	all upload-$(METHOD)-$(BOARD)
+all:	upload-$(METHOD)-$(BOARD)
 
 upload-serial-px4fmu:	$(BUNDLE) $(UPLOADER)
-	@python -u $(UPLOADER) --port $(SERIAL_PORTS) $(PRODUCT_BUNDLE)
+	@python -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
 
 #
 # JTAG firmware uploading with OpenOCD
diff --git a/nuttx/configs/px4fmu/include/board.h b/nuttx/configs/px4fmu/include/board.h
index 0bc0b3021..294b6c398 100755
--- a/nuttx/configs/px4fmu/include/board.h
+++ b/nuttx/configs/px4fmu/include/board.h
@@ -308,6 +308,10 @@
 #define GPIO_SPI1_MOSI	GPIO_SPI1_MOSI_1
 #define GPIO_SPI1_SCK	GPIO_SPI1_SCK_1
 
+#define GPIO_SPI2_MISO	GPIO_SPI2_MISO_2
+#define GPIO_SPI2_MOSI	GPIO_SPI2_MOSI_2
+#define GPIO_SPI2_SCK	GPIO_SPI2_SCK_2
+
 #define GPIO_SPI3_MISO	GPIO_SPI3_MISO_2
 #define GPIO_SPI3_MOSI	GPIO_SPI3_MOSI_1
 #define GPIO_SPI3_SCK	GPIO_SPI3_SCK_2
@@ -321,6 +325,8 @@
 #define PX4_SPIDEV_ACCEL	2
 #define PX4_SPIDEV_MPU		3
 
+#define PX4_SPIDEV_ACCEL_MAG 2 // external for anti vibration test
+
 /*
  * Tone alarm output
  */
diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig
index 9e28ff485..1e5d7d4e1 100644
--- a/nuttx/configs/px4fmu/nsh/appconfig
+++ b/nuttx/configs/px4fmu/nsh/appconfig
@@ -65,7 +65,6 @@ CONFIGURED_APPS += systemcmds/perf
 CONFIGURED_APPS += systemcmds/top
 CONFIGURED_APPS += systemcmds/boardinfo
 CONFIGURED_APPS += systemcmds/mixer
-CONFIGURED_APPS += systemcmds/eeprom
 CONFIGURED_APPS += systemcmds/param
 CONFIGURED_APPS += systemcmds/pwm
 CONFIGURED_APPS += systemcmds/bl_update
@@ -110,20 +109,18 @@ endif
 CONFIGURED_APPS += systemcmds/i2c
 
 # Communication and Drivers
-CONFIGURED_APPS += drivers/boards/px4fmu
+#CONFIGURED_APPS += drivers/boards/px4fmu
 CONFIGURED_APPS	+= drivers/device
 CONFIGURED_APPS += drivers/ms5611
 CONFIGURED_APPS += drivers/hmc5883
 CONFIGURED_APPS += drivers/mpu6000
 CONFIGURED_APPS += drivers/bma180
-CONFIGURED_APPS += drivers/l3gd20
 CONFIGURED_APPS	+= drivers/px4io
 CONFIGURED_APPS += drivers/stm32
-CONFIGURED_APPS += drivers/led
+#CONFIGURED_APPS += drivers/led
 CONFIGURED_APPS += drivers/blinkm
 CONFIGURED_APPS += drivers/stm32/tone_alarm
 CONFIGURED_APPS += drivers/stm32/adc
-CONFIGURED_APPS += drivers/px4fmu
 CONFIGURED_APPS += drivers/hil
 CONFIGURED_APPS += drivers/gps
 CONFIGURED_APPS += drivers/mb12xx
diff --git a/nuttx/configs/px4fmu/nsh/defconfig b/nuttx/configs/px4fmu/nsh/defconfig
index 130886aac..cf30b835f 100755
--- a/nuttx/configs/px4fmu/nsh/defconfig
+++ b/nuttx/configs/px4fmu/nsh/defconfig
@@ -85,7 +85,7 @@ CONFIG_ARCH_FPU=y
 CONFIG_ARCH_INTERRUPTSTACK=n
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARCH_BOOTLOADER=n
-CONFIG_ARCH_LEDS=y
+CONFIG_ARCH_LEDS=n
 CONFIG_ARCH_BUTTONS=n
 CONFIG_ARCH_CALIBRATION=n
 CONFIG_ARCH_DMA=y
diff --git a/apps/ardrone_interface/ardrone_interface.c b/src/drivers/ardrone_interface/ardrone_interface.c
index aeaf830de..aeaf830de 100644
--- a/apps/ardrone_interface/ardrone_interface.c
+++ b/src/drivers/ardrone_interface/ardrone_interface.c
diff --git a/apps/ardrone_interface/ardrone_motor_control.c b/src/drivers/ardrone_interface/ardrone_motor_control.c
index f15c74a22..f15c74a22 100644
--- a/apps/ardrone_interface/ardrone_motor_control.c
+++ b/src/drivers/ardrone_interface/ardrone_motor_control.c
diff --git a/apps/ardrone_interface/ardrone_motor_control.h b/src/drivers/ardrone_interface/ardrone_motor_control.h
index 78b603b63..78b603b63 100644
--- a/apps/ardrone_interface/ardrone_motor_control.h
+++ b/src/drivers/ardrone_interface/ardrone_motor_control.h
diff --git a/apps/drivers/l3gd20/Makefile b/src/drivers/ardrone_interface/module.mk
index 98e2d57c5..058bd1397 100644
--- a/apps/drivers/l3gd20/Makefile
+++ b/src/drivers/ardrone_interface/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -32,11 +32,9 @@
 ############################################################################
 
 #
-# Makefile to build the L3GD20 driver.
+# AR.Drone motor driver
 #
 
-APPNAME		 = l3gd20
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-include $(APPDIR)/mk/app.mk
+MODULE_COMMAND	 = ardrone_interface
+SRCS		 = ardrone_interface.c \
+			   ardrone_motor_control.c
diff --git a/src/drivers/boards/px4fmu/module.mk b/src/drivers/boards/px4fmu/module.mk
new file mode 100644
index 000000000..2cb261d30
--- /dev/null
+++ b/src/drivers/boards/px4fmu/module.mk
@@ -0,0 +1,9 @@
+#
+# Board-specific startup code for the PX4FMU
+#
+
+SRCS		 = px4fmu_can.c \
+		   px4fmu_init.c \
+		   px4fmu_pwm_servo.c \
+		   px4fmu_spi.c \
+		   px4fmu_usb.c
diff --git a/apps/drivers/boards/px4fmu/px4fmu_can.c b/src/drivers/boards/px4fmu/px4fmu_can.c
index 0d0b5fcd3..187689ff9 100644
--- a/apps/drivers/boards/px4fmu/px4fmu_can.c
+++ b/src/drivers/boards/px4fmu/px4fmu_can.c
@@ -37,7 +37,6 @@
  * Board-specific CAN functions.
  */
 
-
 /************************************************************************************
  * Included Files
  ************************************************************************************/
@@ -57,6 +56,8 @@
 #include "stm32_can.h"
 #include "px4fmu_internal.h"
 
+#ifdef CONFIG_CAN
+
 /************************************************************************************
  * Pre-processor Definitions
  ************************************************************************************/
@@ -139,3 +140,5 @@ int can_devinit(void)
 
 	return OK;
 }
+
+#endif
diff --git a/apps/drivers/boards/px4fmu/px4fmu_init.c b/src/drivers/boards/px4fmu/px4fmu_init.c
index 9960c6bbd..5dd70c3f9 100644
--- a/apps/drivers/boards/px4fmu/px4fmu_init.c
+++ b/src/drivers/boards/px4fmu/px4fmu_init.c
@@ -127,6 +127,7 @@ __EXPORT void stm32_boardinitialize(void)
  ****************************************************************************/
 
 static struct spi_dev_s *spi1;
+static struct spi_dev_s *spi2;
 static struct spi_dev_s *spi3;
 
 #include <math.h>
@@ -147,6 +148,11 @@ __EXPORT int nsh_archinitialize(void)
 {
 	int result;
 
+	/* configure always-on ADC pins */
+	stm32_configgpio(GPIO_ADC1_IN10);
+	stm32_configgpio(GPIO_ADC1_IN11);
+	/* IN12 and IN13 further below */
+
 	/* configure the high-resolution time/callout interface */
 	hrt_init();
 
@@ -173,7 +179,7 @@ __EXPORT int nsh_archinitialize(void)
 		       NULL);
 
 	// initial LED state
-	drv_led_start();
+//	drv_led_start();
 	up_ledoff(LED_BLUE);
 	up_ledoff(LED_AMBER);
 	up_ledon(LED_BLUE);
@@ -188,7 +194,7 @@ __EXPORT int nsh_archinitialize(void)
 		return -ENODEV;
 	}
 
-	// Default SPI1 to 1MHz and de-assert the known chip selects.
+	/* Default SPI1 to 1MHz and de-assert the known chip selects. */
 	SPI_SETFREQUENCY(spi1, 10000000);
 	SPI_SETBITS(spi1, 8);
 	SPI_SETMODE(spi1, SPIDEV_MODE3);
@@ -199,6 +205,28 @@ __EXPORT int nsh_archinitialize(void)
 
 	message("[boot] Successfully initialized SPI port 1\r\n");
 
+	/*
+	 * If SPI2 is enabled in the defconfig, we loose some ADC pins as chip selects.
+	 * Keep the SPI2 init optional and conditionally initialize the ADC pins
+	 */
+	spi2 = up_spiinitialize(2);
+
+	if (!spi2) {
+		message("[boot] Enabling IN12/13 instead of SPI2\n");
+		/* no SPI2, use pins for ADC */
+		stm32_configgpio(GPIO_ADC1_IN12);
+		stm32_configgpio(GPIO_ADC1_IN13);	// jumperable to MPU6000 DRDY on some boards
+	} else {
+		/* Default SPI2 to 1MHz and de-assert the known chip selects. */
+		SPI_SETFREQUENCY(spi2, 10000000);
+		SPI_SETBITS(spi2, 8);
+		SPI_SETMODE(spi2, SPIDEV_MODE3);
+		SPI_SELECT(spi2, PX4_SPIDEV_GYRO, false);
+		SPI_SELECT(spi2, PX4_SPIDEV_ACCEL_MAG, false);
+
+		message("[boot] Initialized SPI port2 (ADC IN12/13 blocked)\n");
+	}
+
 	/* Get the SPI port for the microSD slot */
 
 	message("[boot] Initializing SPI port 3\n");
@@ -223,10 +251,5 @@ __EXPORT int nsh_archinitialize(void)
 
 	message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n");
 
-	stm32_configgpio(GPIO_ADC1_IN10);
-	stm32_configgpio(GPIO_ADC1_IN11);
-	stm32_configgpio(GPIO_ADC1_IN12);
-	stm32_configgpio(GPIO_ADC1_IN13);	// jumperable to MPU6000 DRDY on some boards
-
 	return OK;
 }
diff --git a/apps/drivers/boards/px4fmu/px4fmu_internal.h b/src/drivers/boards/px4fmu/px4fmu_internal.h
index 6550fdf3d..671a58f8f 100644
--- a/apps/drivers/boards/px4fmu/px4fmu_internal.h
+++ b/src/drivers/boards/px4fmu/px4fmu_internal.h
@@ -58,9 +58,9 @@ __BEGIN_DECLS
  ****************************************************************************************************/
 /* Configuration ************************************************************************************/
 
-#ifdef CONFIG_STM32_SPI2
-#  error "SPI2 is not supported on this board"
-#endif
+//#ifdef CONFIG_STM32_SPI2
+//#  error "SPI2 is not supported on this board"
+//#endif
 
 #if defined(CONFIG_STM32_CAN1)
 #  warning "CAN1 is not supported on this board"
@@ -77,6 +77,7 @@ __BEGIN_DECLS
 // XXX MPU6000 DRDY?
 
 /* SPI chip selects */
+
 #define GPIO_SPI_CS_GYRO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14)
 #define GPIO_SPI_CS_ACCEL	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
 #define GPIO_SPI_CS_MPU		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
diff --git a/apps/drivers/boards/px4fmu/px4fmu_led.c b/src/drivers/boards/px4fmu/px4fmu_led.c
index fd1e159aa..fd1e159aa 100644
--- a/apps/drivers/boards/px4fmu/px4fmu_led.c
+++ b/src/drivers/boards/px4fmu/px4fmu_led.c
diff --git a/apps/drivers/boards/px4fmu/px4fmu_pwm_servo.c b/src/drivers/boards/px4fmu/px4fmu_pwm_servo.c
index cb8918306..cb8918306 100644
--- a/apps/drivers/boards/px4fmu/px4fmu_pwm_servo.c
+++ b/src/drivers/boards/px4fmu/px4fmu_pwm_servo.c
diff --git a/apps/drivers/boards/px4fmu/px4fmu_spi.c b/src/drivers/boards/px4fmu/px4fmu_spi.c
index 7a02eaeb7..b5d00eac0 100644
--- a/apps/drivers/boards/px4fmu/px4fmu_spi.c
+++ b/src/drivers/boards/px4fmu/px4fmu_spi.c
@@ -121,6 +121,24 @@ __EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devi
 	return SPI_STATUS_PRESENT;
 }
 
+__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
+{
+	/* SPI select is active low, so write !selected to select the device */
+
+	switch (devid) {
+		break;
+
+	default:
+		break;
+
+	}
+}
+
+__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
+{
+	return SPI_STATUS_PRESENT;
+}
+
 
 __EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
 {
diff --git a/apps/drivers/boards/px4fmu/px4fmu_usb.c b/src/drivers/boards/px4fmu/px4fmu_usb.c
index b0b669fbe..b0b669fbe 100644
--- a/apps/drivers/boards/px4fmu/px4fmu_usb.c
+++ b/src/drivers/boards/px4fmu/px4fmu_usb.c
diff --git a/apps/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp
index c7f433dd4..c7f433dd4 100644
--- a/apps/drivers/l3gd20/l3gd20.cpp
+++ b/src/drivers/l3gd20/l3gd20.cpp
diff --git a/src/drivers/l3gd20/module.mk b/src/drivers/l3gd20/module.mk
new file mode 100644
index 000000000..23e77e871
--- /dev/null
+++ b/src/drivers/l3gd20/module.mk
@@ -0,0 +1,6 @@
+#
+# LSM303D accel/mag driver
+#
+
+MODULE_COMMAND	 = l3gd20
+SRCS		 = l3gd20.cpp
diff --git a/apps/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index e54724536..e54724536 100644
--- a/apps/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
diff --git a/src/drivers/px4fmu/module.mk b/src/drivers/px4fmu/module.mk
new file mode 100644
index 000000000..05bc7a5b3
--- /dev/null
+++ b/src/drivers/px4fmu/module.mk
@@ -0,0 +1,6 @@
+#
+# Interface driver for the PX4FMU board
+#
+
+MODULE_COMMAND	 = fmu
+SRCS		 = fmu.cpp
diff --git a/src/include/visibility.h b/src/include/visibility.h
new file mode 100644
index 000000000..2c6adc062
--- /dev/null
+++ b/src/include/visibility.h
@@ -0,0 +1,62 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file visibility.h
+ *
+ * Definitions controlling symbol naming and visibility.
+ *
+ * This file is normally included automatically by the build system.
+ */
+
+#ifndef __SYSTEMLIB_VISIBILITY_H
+#define __SYSTEMLIB_VISIBILITY_H
+
+#ifdef __EXPORT
+#  undef __EXPORT
+#endif
+#define __EXPORT __attribute__ ((visibility ("default")))
+
+#ifdef __PRIVATE
+#  undef __PRIVATE
+#endif
+#define __PRIVATE __attribute__ ((visibility ("hidden")))
+
+#ifdef __cplusplus
+#  define __BEGIN_DECLS		extern "C" {
+#  define __END_DECLS		}
+#else
+#  define __BEGIN_DECLS
+#  define __END_DECLS
+#endif
+#endif
+\ No newline at end of file
diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
index 1a50dde0f..1a50dde0f 100755
--- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
index 7d3812abd..7d3812abd 100755
--- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h
index 09817d58e..09817d58e 100755
--- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h
diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c
index 9e97ad11a..9e97ad11a 100755
--- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c
+++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c
diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h
index afa63c1a9..afa63c1a9 100755
--- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h
+++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h
diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c
index 7d620d7fa..7d620d7fa 100755
--- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c
+++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c
diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h
index 8b599be66..8b599be66 100755
--- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h
+++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h
diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c
index 7f9727419..7f9727419 100755
--- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c
+++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c
diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h
index da84a5024..da84a5024 100755
--- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h
+++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h
diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h
index 30fd1e75e..30fd1e75e 100755
--- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h
+++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h
diff --git a/apps/attitude_estimator_ekf/codegen/cross.c b/src/modules/attitude_estimator_ekf/codegen/cross.c
index 84ada9002..84ada9002 100755
--- a/apps/attitude_estimator_ekf/codegen/cross.c
+++ b/src/modules/attitude_estimator_ekf/codegen/cross.c
diff --git a/apps/attitude_estimator_ekf/codegen/cross.h b/src/modules/attitude_estimator_ekf/codegen/cross.h
index e727f0684..e727f0684 100755
--- a/apps/attitude_estimator_ekf/codegen/cross.h
+++ b/src/modules/attitude_estimator_ekf/codegen/cross.h
diff --git a/apps/attitude_estimator_ekf/codegen/eye.c b/src/modules/attitude_estimator_ekf/codegen/eye.c
index b89ab58ef..b89ab58ef 100755
--- a/apps/attitude_estimator_ekf/codegen/eye.c
+++ b/src/modules/attitude_estimator_ekf/codegen/eye.c
diff --git a/apps/attitude_estimator_ekf/codegen/eye.h b/src/modules/attitude_estimator_ekf/codegen/eye.h
index 94fbe7671..94fbe7671 100755
--- a/apps/attitude_estimator_ekf/codegen/eye.h
+++ b/src/modules/attitude_estimator_ekf/codegen/eye.h
diff --git a/apps/attitude_estimator_ekf/codegen/mrdivide.c b/src/modules/attitude_estimator_ekf/codegen/mrdivide.c
index a810f22e4..a810f22e4 100755
--- a/apps/attitude_estimator_ekf/codegen/mrdivide.c
+++ b/src/modules/attitude_estimator_ekf/codegen/mrdivide.c
diff --git a/apps/attitude_estimator_ekf/codegen/mrdivide.h b/src/modules/attitude_estimator_ekf/codegen/mrdivide.h
index 2d3b0d51f..2d3b0d51f 100755
--- a/apps/attitude_estimator_ekf/codegen/mrdivide.h
+++ b/src/modules/attitude_estimator_ekf/codegen/mrdivide.h
diff --git a/apps/attitude_estimator_ekf/codegen/norm.c b/src/modules/attitude_estimator_ekf/codegen/norm.c
index 0c418cc7b..0c418cc7b 100755
--- a/apps/attitude_estimator_ekf/codegen/norm.c
+++ b/src/modules/attitude_estimator_ekf/codegen/norm.c
diff --git a/apps/attitude_estimator_ekf/codegen/norm.h b/src/modules/attitude_estimator_ekf/codegen/norm.h
index 60cf77b57..60cf77b57 100755
--- a/apps/attitude_estimator_ekf/codegen/norm.h
+++ b/src/modules/attitude_estimator_ekf/codegen/norm.h
diff --git a/apps/attitude_estimator_ekf/codegen/rdivide.c b/src/modules/attitude_estimator_ekf/codegen/rdivide.c
index d035dae5e..d035dae5e 100755
--- a/apps/attitude_estimator_ekf/codegen/rdivide.c
+++ b/src/modules/attitude_estimator_ekf/codegen/rdivide.c
diff --git a/apps/attitude_estimator_ekf/codegen/rdivide.h b/src/modules/attitude_estimator_ekf/codegen/rdivide.h
index 4bbebebe2..4bbebebe2 100755
--- a/apps/attitude_estimator_ekf/codegen/rdivide.h
+++ b/src/modules/attitude_estimator_ekf/codegen/rdivide.h
diff --git a/apps/attitude_estimator_ekf/codegen/rtGetInf.c b/src/modules/attitude_estimator_ekf/codegen/rtGetInf.c
index 34164d104..34164d104 100755
--- a/apps/attitude_estimator_ekf/codegen/rtGetInf.c
+++ b/src/modules/attitude_estimator_ekf/codegen/rtGetInf.c
diff --git a/apps/attitude_estimator_ekf/codegen/rtGetInf.h b/src/modules/attitude_estimator_ekf/codegen/rtGetInf.h
index 145373cd0..145373cd0 100755
--- a/apps/attitude_estimator_ekf/codegen/rtGetInf.h
+++ b/src/modules/attitude_estimator_ekf/codegen/rtGetInf.h
diff --git a/apps/attitude_estimator_ekf/codegen/rtGetNaN.c b/src/modules/attitude_estimator_ekf/codegen/rtGetNaN.c
index d84ca9573..d84ca9573 100755
--- a/apps/attitude_estimator_ekf/codegen/rtGetNaN.c
+++ b/src/modules/attitude_estimator_ekf/codegen/rtGetNaN.c
diff --git a/apps/attitude_estimator_ekf/codegen/rtGetNaN.h b/src/modules/attitude_estimator_ekf/codegen/rtGetNaN.h
index 65fdaa96f..65fdaa96f 100755
--- a/apps/attitude_estimator_ekf/codegen/rtGetNaN.h
+++ b/src/modules/attitude_estimator_ekf/codegen/rtGetNaN.h
diff --git a/apps/attitude_estimator_ekf/codegen/rt_defines.h b/src/modules/attitude_estimator_ekf/codegen/rt_defines.h
index 356498363..356498363 100755
--- a/apps/attitude_estimator_ekf/codegen/rt_defines.h
+++ b/src/modules/attitude_estimator_ekf/codegen/rt_defines.h
diff --git a/apps/attitude_estimator_ekf/codegen/rt_nonfinite.c b/src/modules/attitude_estimator_ekf/codegen/rt_nonfinite.c
index 303d1d9d2..303d1d9d2 100755
--- a/apps/attitude_estimator_ekf/codegen/rt_nonfinite.c
+++ b/src/modules/attitude_estimator_ekf/codegen/rt_nonfinite.c
diff --git a/apps/attitude_estimator_ekf/codegen/rt_nonfinite.h b/src/modules/attitude_estimator_ekf/codegen/rt_nonfinite.h
index bd56b30d9..bd56b30d9 100755
--- a/apps/attitude_estimator_ekf/codegen/rt_nonfinite.h
+++ b/src/modules/attitude_estimator_ekf/codegen/rt_nonfinite.h
diff --git a/apps/attitude_estimator_ekf/codegen/rtwtypes.h b/src/modules/attitude_estimator_ekf/codegen/rtwtypes.h
index 9a5c96267..9a5c96267 100755
--- a/apps/attitude_estimator_ekf/codegen/rtwtypes.h
+++ b/src/modules/attitude_estimator_ekf/codegen/rtwtypes.h
diff --git a/src/modules/attitude_estimator_ekf/module.mk b/src/modules/attitude_estimator_ekf/module.mk
new file mode 100644
index 000000000..5ce545112
--- /dev/null
+++ b/src/modules/attitude_estimator_ekf/module.mk
@@ -0,0 +1,16 @@
+
+MODULE_NAME	 = attitude_estimator_ekf
+SRCS		 = attitude_estimator_ekf_main.cpp \
+			   attitude_estimator_ekf_params.c \
+			   codegen/attitudeKalmanfilter_initialize.c \
+			   codegen/attitudeKalmanfilter_terminate.c \
+			   codegen/attitudeKalmanfilter.c \
+			   codegen/cross.c \
+			   codegen/eye.c \
+			   codegen/mrdivide.c \
+			   codegen/norm.c \
+			   codegen/rdivide.c \
+			   codegen/rt_nonfinite.c \
+			   codegen/rtGetInf.c \
+			   codegen/rtGetNaN.c
+
diff --git a/apps/commander/calibration_routines.c b/src/modules/commander/calibration_routines.c
index a26938637..a26938637 100644
--- a/apps/commander/calibration_routines.c
+++ b/src/modules/commander/calibration_routines.c
diff --git a/apps/commander/calibration_routines.h b/src/modules/commander/calibration_routines.h
index e3e7fbafd..e3e7fbafd 100644
--- a/apps/commander/calibration_routines.h
+++ b/src/modules/commander/calibration_routines.h
diff --git a/apps/commander/commander.c b/src/modules/commander/commander.c
index 7c0a25f86..7c0a25f86 100644
--- a/apps/commander/commander.c
+++ b/src/modules/commander/commander.c
diff --git a/apps/commander/commander.h b/src/modules/commander/commander.h
index 04b4e72ab..04b4e72ab 100644
--- a/apps/commander/commander.h
+++ b/src/modules/commander/commander.h
diff --git a/apps/ardrone_interface/Makefile b/src/modules/commander/module.mk
index fea96082f..b90da8289 100644
--- a/apps/ardrone_interface/Makefile
+++ b/src/modules/commander/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -32,11 +32,10 @@
 ############################################################################
 
 #
-# Makefile to build ardrone interface
+# Main system state machine
 #
 
-APPNAME		 = ardrone_interface
-PRIORITY	 = SCHED_PRIORITY_MAX - 15
-STACKSIZE	 = 2048
-
-include $(APPDIR)/mk/app.mk
+MODULE_COMMAND	 = commander
+SRCS		 = commander.c \
+			   state_machine_helper.c \
+			   calibration_routines.c
diff --git a/apps/commander/state_machine_helper.c b/src/modules/commander/state_machine_helper.c
index bea388a10..bea388a10 100644
--- a/apps/commander/state_machine_helper.c
+++ b/src/modules/commander/state_machine_helper.c
diff --git a/apps/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h
index 2f2ccc729..2f2ccc729 100644
--- a/apps/commander/state_machine_helper.h
+++ b/src/modules/commander/state_machine_helper.h
diff --git a/apps/systemcmds/eeprom/24xxxx_mtd.c b/src/systemcmds/eeprom/24xxxx_mtd.c
index e34be44e3..e34be44e3 100644
--- a/apps/systemcmds/eeprom/24xxxx_mtd.c
+++ b/src/systemcmds/eeprom/24xxxx_mtd.c
diff --git a/apps/systemcmds/eeprom/eeprom.c b/src/systemcmds/eeprom/eeprom.c
index 49da51358..49da51358 100644
--- a/apps/systemcmds/eeprom/eeprom.c
+++ b/src/systemcmds/eeprom/eeprom.c
diff --git a/src/systemcmds/eeprom/module.mk b/src/systemcmds/eeprom/module.mk
new file mode 100644
index 000000000..3b4fc0479
--- /dev/null
+++ b/src/systemcmds/eeprom/module.mk
@@ -0,0 +1,6 @@
+#
+# EEPROM file system driver
+#
+
+MODULE_COMMAND	 = eeprom
+SRCS		 = 24xxxx_mtd.c eeprom.c
author	px4dev <px4@purgatory.org>	2013-04-26 16:14:32 -0700
committer	px4dev <px4@purgatory.org>	2013-04-26 16:14:32 -0700
commit	01e427b17c161d8adaa38d6bdb91aecb434451f2 (patch)
tree	e33f4f6b78ef133c91ad92f1a413c2b16f17a5d5
parent	ce0e4a3afd28b97d5a540e02bef86c52a335f243 (diff)
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