Added mavstation config

31 files changed, 2501 insertions, 1 deletions

diff --git a/Images/mavstation.prototype b/Images/mavstation.prototype
new file mode 100644
index 000000000..1834d5950
--- /dev/null
+++ b/Images/mavstation.prototype
@@ -0,0 +1,12 @@
+{
+    "board_id": 20, 
+    "magic": "MAVSTATION", 
+    "description": "Firmware for the Mavstation board", 
+    "image": "", 
+    "build_time": 0, 
+    "summary": "MAVSTATION",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}
diff --git a/ROMFS/mavstation_common/init.d/rcS b/ROMFS/mavstation_common/init.d/rcS
new file mode 100644
index 000000000..34cc1cb76
--- /dev/null
+++ b/ROMFS/mavstation_common/init.d/rcS
@@ -0,0 +1,10 @@
+#!nsh
+#
+# Mavstation startup script.
+#
+#  NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
+#
+
+echo "[i] Starting Mavstation Code..."
+
+mavstation 
diff --git a/makefiles/board_mavstation.mk b/makefiles/board_mavstation.mk
new file mode 100644
index 000000000..115e8d6b6
--- /dev/null
+++ b/makefiles/board_mavstation.mk
@@ -0,0 +1,11 @@
+#
+# Board-specific definitions for the mavstation
+#
+
+#
+# Configure the toolchain
+#
+CONFIG_ARCH			 = CORTEXM3
+CONFIG_BOARD			 = MAVSTATION
+
+include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk
diff --git a/makefiles/config_mavstation_default.mk b/makefiles/config_mavstation_default.mk
new file mode 100644
index 000000000..c762ea71a
--- /dev/null
+++ b/makefiles/config_mavstation_default.mk
@@ -0,0 +1,26 @@
+#
+# Makefile for the mavstation_default configuration
+#
+
+#
+# Use the configuration's ROMFS
+#
+ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/mavstation_common
+
+#
+# Board support modules
+#
+MODULES		+= drivers/device
+MODULES		+= drivers/stm32
+MODULES		+= drivers/boards/mavstation
+MODULES		+= modules/mavstation_firmware
+
+
+
+define _B
+	$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
+endef
+
+BUILTIN_COMMANDS := \
+    $(call _B, sercon, , 1024,  sercon_main) \
+	$(call _B, serdis, , 1024,  serdis_main)
diff --git a/makefiles/upload.mk b/makefiles/upload.mk
index 29b415688..3b1bda060 100644
--- a/makefiles/upload.mk
+++ b/makefiles/upload.mk
@@ -35,6 +35,9 @@ upload-serial-aerocore:
 
 
 
+upload-serial-mavstation:    $(BUNDLE) $(UPLOADER)
+	$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
+
 #
 # JTAG firmware uploading with OpenOCD
 #
diff --git a/nuttx-configs/mavstation/include/README.txt b/nuttx-configs/mavstation/include/README.txt
new file mode 100755
index 000000000..7a56b3f43
--- /dev/null
+++ b/nuttx-configs/mavstation/include/README.txt
@@ -0,0 +1 @@
+This directory contains header files unique to the mavstation board.
diff --git a/nuttx-configs/mavstation/include/board.h b/nuttx-configs/mavstation/include/board.h
new file mode 100755
index 000000000..4c79422d4
--- /dev/null
+++ b/nuttx-configs/mavstation/include/board.h
@@ -0,0 +1,198 @@
+/************************************************************************************
+ * configs/mavstation/include/board.h
+ * include/arch/board/board.h
+ *
+ *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *   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 NuttX 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.
+ *
+ ************************************************************************************/
+
+#ifndef __ARCH_BOARD_BOARD_H
+#define __ARCH_BOARD_BOARD_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+# include <stdbool.h>
+#endif
+#include <stm32_rcc.h>
+#include <stm32_sdio.h>
+#include <stm32.h>
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/* Clocking *************************************************************************/
+
+/* On-board crystal frequency is 24MHz (HSE) */
+
+#define STM32_BOARD_XTAL        24000000ul
+
+
+/* PLL source is HSE/1, PLL multipler is 2: PLL frequency is 24MHz (XTAL) x 2 = 48MHz */
+
+#define STM32_CFGR_PLLSRC       RCC_CFGR_PLLSRC
+#define STM32_CFGR_PLLXTPRE     0
+#define STM32_CFGR_PLLMUL       RCC_CFGR_PLLMUL_CLKx2
+#define STM32_PLL_FREQUENCY     (2*STM32_BOARD_XTAL)
+
+/* Use the PLL and set the SYSCLK source to be the PLL */
+
+#define STM32_SYSCLK_SW         RCC_CFGR_SW_PLL
+#define STM32_SYSCLK_SWS        RCC_CFGR_SWS_PLL
+#define STM32_SYSCLK_FREQUENCY  STM32_PLL_FREQUENCY
+
+/* AHB clock (HCLK) is SYSCLK (48MHz) */
+
+#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK
+#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY    /* same as above, to satisfy compiler */
+
+/* APB2 clock (PCLK2) is HCLK (48MHz) */
+
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLK
+#define STM32_PCLK2_FREQUENCY   STM32_HCLK_FREQUENCY
+#define STM32_APB2_CLKIN        (STM32_PCLK2_FREQUENCY)   /* Timers 2-4 */
+
+/* APB2 timer 1 will receive PCLK2. */
+
+#define STM32_APB2_TIM1_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (STM32_PCLK2_FREQUENCY)
+
+/* APB1 clock (PCLK1) is HCLK (24MHz) */
+
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd2
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
+
+/* All timers run off PCLK */
+
+#define STM32_APB1_TIM1_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB1_TIM2_CLKIN   (STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (STM32_PCLK1_FREQUENCY)
+
+#define STM32_CFGR_USBPRE	RCC_CFGR_USBPRE
+
+/*
+ * Some of the USART pins are not available; override the GPIO
+ * definitions with an invalid pin configuration.
+ */
+/*
+#undef GPIO_USART2_CTS
+#define GPIO_USART2_CTS	0xffffffff
+#undef GPIO_USART2_RTS
+#define GPIO_USART2_RTS	0xffffffff
+#undef GPIO_USART2_CK
+#define GPIO_USART2_CK 	0xffffffff
+#undef GPIO_USART3_TX
+#define GPIO_USART3_TX 	0xffffffff
+#undef GPIO_USART3_CK
+#define GPIO_USART3_CK 	0xffffffff
+#undef GPIO_USART3_CTS
+#define GPIO_USART3_CTS	0xffffffff
+#undef GPIO_USART3_RTS
+#define GPIO_USART3_RTS	0xffffffff
+*/
+#define GPIO_USB_PULLUP (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|\
+			 GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
+
+/*
+ * High-resolution timer
+ */
+#ifdef CONFIG_HRT_TIMER
+# define HRT_TIMER		3	/* use timer3 for the HRT */
+# define HRT_TIMER_CHANNEL	2	/* use capture/compare channel 2 */
+#endif
+
+/*
+ * PPM
+ *
+ * PPM input is handled by the HRT timer.
+ *
+ * Pin is PA8, timer 1, channel 1
+ */
+#if defined(CONFIG_HRT_TIMER) && defined (CONFIG_HRT_PPM)
+# define HRT_PPM_CHANNEL	1	/* use capture/compare channel 1 */
+# define GPIO_PPM_IN		GPIO_TIM1_CH1IN
+#endif
+
+/* LED definitions ******************************************************************/
+/* PX4 has two LEDs that we will encode as: */
+
+#define LED_STARTED       0  /* LED? */
+#define LED_HEAPALLOCATE  1  /* LED? */
+#define LED_IRQSENABLED   2  /* LED? + LED? */
+#define LED_STACKCREATED  3  /* LED? */
+#define LED_INIRQ         4  /* LED? + LED? */
+#define LED_SIGNAL        5  /* LED? + LED? */
+#define LED_ASSERTION     6  /* LED? + LED? + LED? */
+#define LED_PANIC         7  /* N/C  + N/C  + N/C + LED? */
+
+/************************************************************************************
+ * Public Data
+ ************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C" {
+#else
+#define EXTERN extern
+#endif
+
+/************************************************************************************
+ * Public Function Prototypesæ
+ ************************************************************************************/
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the intitialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+EXTERN void stm32_boardinitialize(void);
+
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif  /* __ARCH_BOARD_BOARD_H */
diff --git a/nuttx-configs/mavstation/include/nsh_romfsimg.h b/nuttx-configs/mavstation/include/nsh_romfsimg.h
new file mode 100644
index 000000000..15e4e7a8d
--- /dev/null
+++ b/nuttx-configs/mavstation/include/nsh_romfsimg.h
@@ -0,0 +1,42 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 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
+ * 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.
+ *
+ ****************************************************************************/
+
+/**
+ * nsh_romfsetc.h
+ *
+ * This file is a stub for 'make export' purposes; the actual ROMFS
+ * must be supplied by the library client.
+ */
+
+extern unsigned char romfs_img[];
+extern unsigned int romfs_img_len;
diff --git a/nuttx-configs/mavstation/nsh/Make.defs b/nuttx-configs/mavstation/nsh/Make.defs
new file mode 100644
index 000000000..a51ffb442
--- /dev/null
+++ b/nuttx-configs/mavstation/nsh/Make.defs
@@ -0,0 +1,173 @@
+############################################################################
+# configs/mavstation/nsh/Make.defs
+#
+#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# 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 NuttX 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.
+#
+############################################################################
+
+include ${TOPDIR}/.config
+include ${TOPDIR}/tools/Config.mk
+include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
+
+#
+# We only support building with the ARM bare-metal toolchain from
+# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
+#
+CONFIG_ARMV7M_TOOLCHAIN	:= GNU_EABI
+
+include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
+
+CC			 = $(CROSSDEV)gcc
+CXX			 = $(CROSSDEV)g++
+CPP			 = $(CROSSDEV)gcc -E
+LD			 = $(CROSSDEV)ld
+AR			 = $(CROSSDEV)ar rcs
+NM			 = $(CROSSDEV)nm
+OBJCOPY			 = $(CROSSDEV)objcopy
+OBJDUMP			 = $(CROSSDEV)objdump
+
+MAXOPTIMIZATION		 = -Os
+ARCHCPUFLAGS		 = -mcpu=cortex-m3 \
+			   -mthumb \
+			   -march=armv7-m
+
+# enable precise stack overflow tracking
+ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
+INSTRUMENTATIONDEFINES  = -finstrument-functions -ffixed-r10
+endif
+
+
+# use our linker script
+LDSCRIPT		 = ld.script
+
+ifeq ($(WINTOOL),y)
+  # Windows-native toolchains
+  DIRLINK		 = $(TOPDIR)/tools/copydir.sh
+  DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
+  MKDEP			 = $(TOPDIR)/tools/mknulldeps.sh
+  ARCHINCLUDES		 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
+  ARCHXXINCLUDES	 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
+  ARCHSCRIPT		 = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}"
+else
+  ifeq ($(PX4_WINTOOL),y)
+    # Windows-native toolchains (MSYS)
+    DIRLINK		 = $(TOPDIR)/tools/copydir.sh
+    DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
+    MKDEP		 = $(TOPDIR)/tools/mknulldeps.sh
+    ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
+    ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
+    ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
+  else
+    # Linux/Cygwin-native toolchain 
+    MKDEP		 = $(TOPDIR)/tools/mkdeps.sh
+    ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
+    ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
+    ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
+  endif
+endif
+
+# tool versions
+ARCHCCVERSION		 = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
+ARCHCCMAJOR		 = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
+
+# optimisation flags
+ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
+			   -fno-strict-aliasing \
+			   -fno-strength-reduce \
+			   -fomit-frame-pointer \
+   			   -funsafe-math-optimizations \
+   			   -fno-builtin-printf \
+   			   -ffunction-sections \
+   			   -fdata-sections
+
+ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
+ARCHOPTIMIZATION	+= -g
+endif
+
+ARCHCFLAGS		 = -std=gnu99
+ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x
+ARCHWARNINGS		 = -Wall \
+			   -Wextra \
+			   -Wdouble-promotion \
+			   -Wshadow \
+			   -Wfloat-equal \
+			   -Wframe-larger-than=1024 \
+			   -Wpointer-arith \
+			   -Wlogical-op \
+			   -Wmissing-declarations \
+			   -Wpacked \
+			   -Wno-unused-parameter
+#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
+#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
+#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
+
+ARCHCWARNINGS		 = $(ARCHWARNINGS) \
+			   -Wbad-function-cast \
+			   -Wstrict-prototypes \
+			   -Wold-style-declaration \
+			   -Wmissing-parameter-type \
+			   -Wmissing-prototypes \
+			   -Wnested-externs \
+			   -Wunsuffixed-float-constants
+ARCHWARNINGSXX		 = $(ARCHWARNINGS)
+ARCHDEFINES		 = 
+ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
+
+# this seems to be the only way to add linker flags
+EXTRA_LIBS		+= --warn-common \
+			   --gc-sections
+
+CFLAGS			 = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
+CPICFLAGS		 = $(ARCHPICFLAGS) $(CFLAGS)
+CXXFLAGS		 = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
+CXXPICFLAGS		 = $(ARCHPICFLAGS) $(CXXFLAGS)
+CPPFLAGS		 = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
+AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__
+
+NXFLATLDFLAGS1		 = -r -d -warn-common
+NXFLATLDFLAGS2		 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
+LDNXFLATFLAGS		 = -e main -s 2048
+
+OBJEXT			 = .o
+LIBEXT			 = .a
+EXEEXT			 =
+
+# produce partially-linked $1 from files in $2
+define PRELINK
+	@echo "PRELINK: $1"
+	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
+endef
+
+HOSTCC			 = gcc
+HOSTINCLUDES		 = -I.
+HOSTCFLAGS		 = -Wall -Wstrict-prototypes -Wshadow -g -pipe
+HOSTLDFLAGS		 =
+
diff --git a/nuttx-configs/mavstation/nsh/defconfig b/nuttx-configs/mavstation/nsh/defconfig
new file mode 100644
index 000000000..6f752df2d
--- /dev/null
+++ b/nuttx-configs/mavstation/nsh/defconfig
@@ -0,0 +1,739 @@
+############################################################################
+# configs/mavstation/nsh/defconfig
+#
+#   Copyright (C) 2009-2012 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# 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 NuttX 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.
+#
+############################################################################
+#
+# architecture selection
+#
+# CONFIG_ARCH - identifies the arch subdirectory and, hence, the
+#   processor architecture.
+# CONFIG_ARCH_family - for use in C code.  This identifies the
+#   particular chip family that the architecture is implemented
+#   in.
+# CONFIG_ARCH_architecture - for use in C code.  This identifies the
+#   specific architecture within the chip familyl.
+# CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory
+# CONFIG_ARCH_CHIP_name - For use in C code
+# CONFIG_ARCH_BOARD - identifies the configs subdirectory and, hence,
+#   the board that supports the particular chip or SoC.
+# CONFIG_ARCH_BOARD_name - for use in C code
+# CONFIG_ENDIAN_BIG - define if big endian (default is little endian)
+# CONFIG_BOARD_LOOPSPERMSEC - for delay loops
+# CONFIG_DRAM_SIZE - Describes the installed DRAM.
+# CONFIG_DRAM_START - The start address of DRAM (physical)
+# CONFIG_DRAM_END - Last address+1 of installed RAM
+# CONFIG_ARCH_IRQPRIO - The ST32F100CB supports interrupt prioritization
+# CONFIG_ARCH_INTERRUPTSTACK - This architecture supports an interrupt
+#   stack. If defined, this symbol is the size of the interrupt
+#   stack in bytes.  If not defined, the user task stacks will be
+#   used during interrupt handling.
+# CONFIG_ARCH_STACKDUMP - Do stack dumps after assertions
+# CONFIG_ARCH_BOOTLOADER - Set if you are using a bootloader.
+# CONFIG_ARCH_LEDS -  Use LEDs to show state. Unique to board architecture.
+# CONFIG_ARCH_BUTTONS -  Enable support for buttons. Unique to board architecture.
+# CONFIG_ARCH_CALIBRATION - Enables some build in instrumentation that
+#   cause a 100 second delay during boot-up.  This 100 second delay
+#   serves no purpose other than it allows you to calibrate
+#   CONFIG_BOARD_LOOPSPERMSEC.  You simply use a stop watch to measure
+#   the 100 second delay then adjust CONFIG_BOARD_LOOPSPERMSEC until
+#   the delay actually is 100 seconds.
+# CONFIG_ARCH_DMA - Support DMA initialization
+#
+CONFIG_ARCH="arm"
+CONFIG_ARCH_ARM=y
+CONFIG_ARCH_CORTEXM3=y
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CORTEXM3=y
+CONFIG_ARCH_FAMILY="armv7-m"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARCH_HAVE_CMNVECTOR=y
+CONFIG_ARMV7M_CMNVECTOR=y
+
+CONFIG_ARCH_CHIP_STM32F102CB=y
+CONFIG_ARCH_BOARD=mavstation
+CONFIG_ARCH_BOARD_MAVSTATION=y
+CONFIG_BOARD_LOOPSPERMSEC=24000
+CONFIG_RAM_SIZE=16000
+CONFIG_RAM_START=0x20000000
+CONFIG_RAM_END=(CONFIG_RAM_START+CONFIG_RAM_SIZE)
+CONFIG_ARCH_HAVE_INTERRUPTSTACK=y
+CONFIG_ARCH_INTERRUPTSTACK=340
+CONFIG_ARCH_IRQPRIO=y
+CONFIG_ARCH_INTERRUPTSTACK=n
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARCH_BOOTLOADER=y
+CONFIG_ARCH_LEDS=n
+CONFIG_ARCH_BUTTONS=y
+CONFIG_ARCH_CALIBRATION=n
+CONFIG_ARCH_DMA=n
+#CONFIG_SERIAL_TERMIOS=y
+
+CONFIG_ARMV7M_TOOLCHAIN_GNU_EABIL=y
+
+#
+# JTAG Enable settings (by default JTAG-DP and SW-DP are disabled):
+#
+#   CONFIG_STM32_DFU - Use the DFU bootloader, not JTAG
+#
+# JTAG Enable options:
+#
+#   CONFIG_STM32_JTAG_FULL_ENABLE - Enables full SWJ (JTAG-DP + SW-DP)
+#   CONFIG_STM32_JTAG_NOJNTRST_ENABLE - Enables full SWJ (JTAG-DP + SW-DP)
+#     but without JNTRST.
+#   CONFIG_STM32_JTAG_SW_ENABLE - Set JTAG-DP disabled and SW-DP enabled
+#
+CONFIG_STM32_DFU=n
+CONFIG_STM32_JTAG_FULL_ENABLE=y
+CONFIG_STM32_JTAG_NOJNTRST_ENABLE=n
+CONFIG_STM32_JTAG_SW_ENABLE=n
+
+#
+# Individual subsystems can be enabled:
+# AHB: 
+CONFIG_STM32_DMA1=n
+CONFIG_STM32_DMA2=n
+CONFIG_STM32_CRC=n
+# APB1:
+# Timers 2 and 4 are owned by the PWM driver
+CONFIG_STM32_TIM2=n
+CONFIG_STM32_TIM4=n
+CONFIG_STM32_WWDG=n
+CONFIG_STM32_SPI2=n
+CONFIG_STM32_USART2=y
+CONFIG_STM32_USART3=n
+CONFIG_STM32_I2C1=y
+CONFIG_STM32_I2C2=y
+CONFIG_STM32_BKP=n
+CONFIG_STM32_PWR=n
+CONFIG_STM32_DAC=n
+# APB2:
+CONFIG_STM32_ADC1=y
+CONFIG_STM32_ADC2=n
+# TIM3 is owned by the HRT
+CONFIG_STM32_TIM3=n
+CONFIG_STM32_SPI1=n
+CONFIG_STM32_TIM8=n
+CONFIG_STM32_USART1=y
+CONFIG_STM32_ADC3=n
+CONFIG_STM32_USB=y
+
+#
+# Timer and I2C devices may need to the following to force power to be applied:
+#
+#CONFIG_STM32_FORCEPOWER=y
+
+#
+# STM32F100 specific serial device driver settings
+#
+# CONFIG_USARTn_SERIAL_CONSOLE - selects the USARTn for the
+#   console and ttys0 (default is the USART1).
+# CONFIG_USARTn_RXBUFSIZE - Characters are buffered as received.
+#   This specific the size of the receive buffer
+# CONFIG_USARTn_TXBUFSIZE - Characters are buffered before
+#   being sent.  This specific the size of the transmit buffer
+# CONFIG_USARTn_BAUD - The configure BAUD of the UART.  Must be
+# CONFIG_USARTn_BITS - The number of bits.  Must be either 7 or 8.
+# CONFIG_USARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity
+# CONFIG_USARTn_2STOP - Two stop bits
+#
+CONFIG_USART1_SERIAL_CONSOLE=y
+CONFIG_USART2_SERIAL_CONSOLE=n
+CONFIG_USART3_SERIAL_CONSOLE=n
+
+CONFIG_USART1_TXBUFSIZE=64
+CONFIG_USART2_TXBUFSIZE=64
+CONFIG_USART3_TXBUFSIZE=64
+
+CONFIG_USART1_RXBUFSIZE=64
+CONFIG_USART2_RXBUFSIZE=64
+CONFIG_USART3_RXBUFSIZE=64
+
+CONFIG_USART1_BAUD=57600
+CONFIG_USART2_BAUD=115200
+CONFIG_USART3_BAUD=115200
+
+CONFIG_USART1_BITS=8
+CONFIG_USART2_BITS=8
+CONFIG_USART3_BITS=8
+
+CONFIG_USART1_PARITY=0
+CONFIG_USART2_PARITY=0
+CONFIG_USART3_PARITY=0
+
+CONFIG_USART1_2STOP=0
+CONFIG_USART2_2STOP=0
+CONFIG_USART3_2STOP=0
+
+CONFIG_USBDEV=y
+#CONFIG_USART1_RXDMA=y
+#SERIAL_HAVE_CONSOLE_DMA=y
+
+#
+# USB Device Controller Driver Options
+#
+# CONFIG_USBDEV_ISOCHRONOUS is not set
+# CONFIG_USBDEV_DUALSPEED is not set
+CONFIG_USBDEV_SELFPOWERED=y
+# CONFIG_USBDEV_BUSPOWERED is not set
+CONFIG_USBDEV_MAXPOWER=100
+# CONFIG_USBDEV_DMA is not set
+CONFIG_USBDEV_TRACE=y
+CONFIG_USBDEV_TRACE_NRECORDS=32
+# CONFIG_USBDEV_TRACE_STRINGS is not set
+
+#
+# USB CDC/ACM Device Commands
+#
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_CDCACM_DEVMINOR=0
+
+#
+# USB Device Class Driver Options
+#
+# CONFIG_USBDEV_COMPOSITE is not set
+# CONFIG_PL2303 is not set
+CONFIG_CDCACM=y
+CONFIG_CDCACM_CONSOLE=n
+CONFIG_CDCACM_EP0MAXPACKET=64
+CONFIG_CDCACM_EPINTIN=1
+CONFIG_CDCACM_EPINTIN_FSSIZE=64
+CONFIG_CDCACM_EPINTIN_HSSIZE=64
+CONFIG_CDCACM_EPBULKOUT=3
+CONFIG_CDCACM_EPBULKOUT_FSSIZE=64
+CONFIG_CDCACM_EPBULKOUT_HSSIZE=512
+CONFIG_CDCACM_EPBULKIN=2
+CONFIG_CDCACM_EPBULKIN_FSSIZE=64
+CONFIG_CDCACM_EPBULKIN_HSSIZE=512
+CONFIG_CDCACM_NWRREQS=4
+CONFIG_CDCACM_NRDREQS=4
+CONFIG_CDCACM_BULKIN_REQLEN=96
+CONFIG_CDCACM_RXBUFSIZE=256
+CONFIG_CDCACM_TXBUFSIZE=296
+CONFIG_CDCACM_VENDORID=0x0525
+CONFIG_CDCACM_PRODUCTID=0xa4a7
+CONFIG_CDCACM_VENDORSTR="NuttX"
+CONFIG_CDCACM_PRODUCTSTR="CDC/ACM Serial"
+
+# PX4IO specific driver settings
+#
+# CONFIG_HRT_TIMER
+#   Enables the high-resolution timer.  The board definition must
+#   set HRT_TIMER and HRT_TIMER_CHANNEL to the timer and capture/
+#   compare channels to be used.
+# CONFIG_HRT_PPM
+#   Enables R/C PPM input using the HRT.  The board definition must
+#   set HRT_PPM_CHANNEL to the timer capture/compare channel to be
+#   used, and define GPIO_PPM_IN to configure the appropriate timer
+#   GPIO.
+# CONFIG_PWM_SERVO
+#   Enables the PWM servo driver.  The driver configuration must be
+#   supplied by the board support at initialisation time.
+#   Note that USART2 must be disabled on the PX4 board for this to
+#   be available.
+#
+#
+CONFIG_HRT_TIMER=y
+CONFIG_HRT_PPM=n
+CONFIG_PWM_SERVO=y
+
+#
+# General build options
+#
+# CONFIG_RRLOAD_BINARY - make the rrload binary format used with
+#   BSPs from www.ridgerun.com using the tools/mkimage.sh script
+# CONFIG_INTELHEX_BINARY - make the Intel HEX binary format
+#   used with many different loaders using the GNU objcopy program
+#   Should not be selected if you are not using the GNU toolchain.
+# CONFIG_MOTOROLA_SREC - make the Motorola S-Record binary format
+#   used with many different loaders using the GNU objcopy program
+#   Should not be selected if you are not using the GNU toolchain.
+# CONFIG_RAW_BINARY - make a raw binary format file used with many
+#   different loaders using the GNU objcopy program.  This option
+#   should not be selected if you are not using the GNU toolchain.
+# CONFIG_HAVE_LIBM - toolchain supports libm.a
+#
+CONFIG_RRLOAD_BINARY=n
+CONFIG_INTELHEX_BINARY=n
+CONFIG_MOTOROLA_SREC=n
+CONFIG_RAW_BINARY=y
+CONFIG_HAVE_LIBM=n
+CONFIG_BINFMT_DISABLE=n
+CONFIG_FS_BINFS=y
+
+#
+# Examples
+#
+# CONFIG_EXAMPLES_BUTTONS is not set
+# CONFIG_EXAMPLES_CAN is not set
+# CONFIG_EXAMPLES_CONFIGDATA is not set
+# CONFIG_EXAMPLES_CPUHOG is not set
+# CONFIG_EXAMPLES_CXXTEST is not set
+# CONFIG_EXAMPLES_DHCPD is not set
+# CONFIG_EXAMPLES_ELF is not set
+# CONFIG_EXAMPLES_FTPC is not set
+# CONFIG_EXAMPLES_FTPD is not set
+CONFIG_EXAMPLES_HELLO=y
+# CONFIG_EXAMPLES_HELLOXX is not set
+# CONFIG_EXAMPLES_JSON is not set
+# CONFIG_EXAMPLES_HIDKBD is not set
+# CONFIG_EXAMPLES_KEYPADTEST is not set
+# CONFIG_EXAMPLES_IGMP is not set
+# CONFIG_EXAMPLES_MM is not set
+# CONFIG_EXAMPLES_MODBUS is not set
+CONFIG_EXAMPLES_MOUNT=y
+# CONFIG_EXAMPLES_MOUNT_BLOCKDEVICE is not set
+CONFIG_EXAMPLES_MOUNT_NSECTORS=1024
+CONFIG_EXAMPLES_MOUNT_SECTORSIZE=256
+CONFIG_EXAMPLES_MOUNT_RAMDEVNO=0
+# CONFIG_EXAMPLES_MTDPART is not set
+# CONFIG_EXAMPLES_NRF24L01TERM is not set
+CONFIG_EXAMPLES_NSH=y
+# CONFIG_EXAMPLES_NSH_CXXINITIALIZE is not set
+# CONFIG_EXAMPLES_NULL is not set
+# CONFIG_EXAMPLES_NX is not set
+# CONFIG_EXAMPLES_NXTERM is not set
+# CONFIG_EXAMPLES_NXFFS is not set
+# CONFIG_EXAMPLES_NXFLAT is not set
+# CONFIG_EXAMPLES_NXHELLO is not set
+# CONFIG_EXAMPLES_NXIMAGE is not set
+# CONFIG_EXAMPLES_NXLINES is not set
+# CONFIG_EXAMPLES_NXTEXT is not set
+# CONFIG_EXAMPLES_OSTEST is not set
+# CONFIG_EXAMPLES_PIPE is not set
+# CONFIG_EXAMPLES_POSIXSPAWN is not set
+# CONFIG_EXAMPLES_QENCODER is not set
+# CONFIG_EXAMPLES_RGMP is not set
+# CONFIG_EXAMPLES_ROMFS is not set
+# CONFIG_EXAMPLES_SENDMAIL is not set
+# CONFIG_EXAMPLES_SERIALBLASTER is not set
+# CONFIG_EXAMPLES_SERIALRX is not set
+# CONFIG_EXAMPLES_SERLOOP is not set
+# CONFIG_EXAMPLES_SLCD is not set
+# CONFIG_EXAMPLES_SMART_TEST is not set
+# CONFIG_EXAMPLES_SMART is not set
+# CONFIG_EXAMPLES_TCPECHO is not set
+# CONFIG_EXAMPLES_TELNETD is not set
+# CONFIG_EXAMPLES_THTTPD is not set
+# CONFIG_EXAMPLES_TIFF is not set
+# CONFIG_EXAMPLES_TOUCHSCREEN is not set
+# CONFIG_EXAMPLES_WEBSERVER is not set
+# CONFIG_EXAMPLES_USBSERIAL is not set
+# CONFIG_EXAMPLES_USBTERM is not set
+# CONFIG_EXAMPLES_WATCHDOG is not set
+
+#
+# General OS setup
+#
+# CONFIG_APPS_DIR - Identifies the relative path to the directory
+#   that builds the application to link with NuttX.  Default: ../apps
+# CONFIG_DEBUG - enables built-in debug options
+# CONFIG_DEBUG_VERBOSE - enables verbose debug output
+# CONFIG_DEBUG_SYMBOLS - build without optimization and with
+#   debug symbols (needed for use with a debugger).
+# CONFIG_HAVE_CXX - Enable support for C++
+# CONFIG_HAVE_CXXINITIALIZE - The platform-specific logic includes support
+#   for initialization of static C++ instances for this architecture
+#   and for the selected toolchain (via up_cxxinitialize()).
+# CONFIG_MM_REGIONS - If the architecture includes multiple
+#   regions of memory to allocate from, this specifies the
+#   number of memory regions that the memory manager must
+#   handle and enables the API mm_addregion(start, end);
+# CONFIG_ARCH_LOWPUTC - architecture supports low-level, boot
+#   time console output
+# CONFIG_MSEC_PER_TICK - The default system timer is 100Hz
+#   or MSEC_PER_TICK=10.  This setting may be defined to
+#   inform NuttX that the processor hardware is providing
+#   system timer interrupts at some interrupt interval other
+#   than 10 msec.
+# CONFIG_RR_INTERVAL - The round robin timeslice will be set
+#   this number of milliseconds;  Round robin scheduling can
+#   be disabled by setting this value to zero.
+# CONFIG_SCHED_INSTRUMENTATION - enables instrumentation in 
+#   scheduler to monitor system performance
+# CONFIG_TASK_NAME_SIZE - Spcifies that maximum size of a
+#   task name to save in the TCB.  Useful if scheduler
+#   instrumentation is selected.  Set to zero to disable.
+# CONFIG_START_YEAR, CONFIG_START_MONTH, CONFIG_START_DAY -
+#   Used to initialize the internal time logic.
+# CONFIG_GREGORIAN_TIME - Enables Gregorian time conversions.
+#   You would only need this if you are concerned about accurate
+#   time conversions in the past or in the distant future.
+# CONFIG_JULIAN_TIME - Enables Julian time conversions. You
+#   would only need this if you are concerned about accurate
+#   time conversion in the distand past.  You must also define
+#   CONFIG_GREGORIAN_TIME in order to use Julian time.
+# CONFIG_DEV_CONSOLE - Set if architecture-specific logic
+#   provides /dev/console.  Enables stdout, stderr, stdin.
+# CONFIG_DEV_LOWCONSOLE - Use the simple, low-level serial console
+#   driver (minimul support)
+# CONFIG_MUTEX_TYPES: Set to enable support for recursive and
+#   errorcheck mutexes. Enables pthread_mutexattr_settype().
+# CONFIG_PRIORITY_INHERITANCE : Set to enable support for priority
+#   inheritance on mutexes and semaphores. 
+# CONFIG_SEM_PREALLOCHOLDERS: This setting is only used if priority
+#   inheritance is enabled.  It defines the maximum number of
+#   different threads (minus one) that can take counts on a
+#   semaphore with priority inheritance support.  This may be 
+#   set to zero if priority inheritance is disabled OR if you
+#   are only using semaphores as mutexes (only one holder) OR
+#   if no more than two threads participate using a counting
+#   semaphore.
+# CONFIG_SEM_NNESTPRIO.  If priority inheritance is enabled,
+#   then this setting is the maximum number of higher priority
+#   threads (minus 1) than can be waiting for another thread
+#   to release a count on a semaphore.  This value may be set
+#   to zero if no more than one thread is expected to wait for
+#   a semaphore.
+# CONFIG_FDCLONE_DISABLE. Disable cloning of all file descriptors
+#   by task_create() when a new task is started.  If set, all
+#   files/drivers will appear to be closed in the new task.
+# CONFIG_FDCLONE_STDIO. Disable cloning of all but the first
+#   three file descriptors (stdin, stdout, stderr) by task_create()
+#   when a new task is started. If set, all files/drivers will
+#   appear to be closed in the new task except for stdin, stdout,
+#   and stderr.
+# CONFIG_SDCLONE_DISABLE. Disable cloning of all socket
+#   desciptors by task_create() when a new task is started. If
+#   set, all sockets will appear to be closed in the new task.
+# CONFIG_NXFLAT. Enable support for the NXFLAT binary format.
+#  This format will support execution of NuttX binaries located
+#  in a ROMFS filesystem (see examples/nxflat).
+# CONFIG_SCHED_WORKQUEUE.  Create a dedicated "worker" thread to
+#  handle delayed processing from interrupt handlers.  This feature
+#  is required for some drivers but, if there are not complaints,
+#  can be safely disabled.  The worker thread also performs
+#  garbage collection -- completing any delayed memory deallocations
+#  from interrupt handlers.  If the worker thread is disabled,
+#  then that clean will be performed by the IDLE thread instead
+#  (which runs at the lowest of priority and may not be appropriate
+#  if memory reclamation is of high priority).  If CONFIG_SCHED_WORKQUEUE
+#  is enabled, then the following options can also be used:
+# CONFIG_SCHED_WORKPRIORITY - The execution priority of the worker
+#  thread.  Default: 50
+# CONFIG_SCHED_WORKPERIOD - How often the worker thread checks for
+#  work in units of microseconds.  Default: 50*1000 (50 MS).
+# CONFIG_SCHED_WORKSTACKSIZE - The stack size allocated for the worker
+#  thread.  Default: CONFIG_IDLETHREAD_STACKSIZE.
+# CONFIG_SIG_SIGWORK - The signal number that will be used to wake-up
+#  the worker thread.  Default: 4
+#
+CONFIG_APPS_DIR="../apps"
+CONFIG_ARCH_HAVE_STACKCHECK=y
+CONFIG_STACK_COLORATION=y
+CONFIG_ARCH_HAVE_HEAPCHECK=y
+CONFIG_MSEC_PWER_TICK=1
+CONFIG_DEBUG=n
+CONFIG_DEBUG_VERBOSE=n
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_ARCH_MATH_H=y
+CONFIG_MM_REGIONS=1
+CONFIG_MM_SMALL=y
+CONFIG_ARCH_LOWPUTC=y
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_INSTRUMENTATION=n
+CONFIG_TASK_NAME_SIZE=8
+CONFIG_START_YEAR=2009
+CONFIG_START_MONTH=9
+CONFIG_START_DAY=21
+CONFIG_GREGORIAN_TIME=n
+CONFIG_JULIAN_TIME=n
+CONFIG_DEV_CONSOLE=y
+CONFIG_DEV_LOWCONSOLE=n
+CONFIG_MUTEX_TYPES=n
+CONFIG_PRIORITY_INHERITANCE=n
+CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_NNESTPRIO=0
+CONFIG_FDCLONE_DISABLE=n
+CONFIG_FDCLONE_STDIO=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_NXFLAT=n
+CONFIG_SCHED_WORKQUEUE=n
+CONFIG_SCHED_WORKPRIORITY=50
+CONFIG_SCHED_WORKPERIOD=(50*1000)
+CONFIG_SCHED_WORKSTACKSIZE=512
+CONFIG_SIG_SIGWORK=4
+
+CONFIG_USER_ENTRYPOINT="nsh_main"
+#
+# The following can be used to disable categories of
+# APIs supported by the OS.  If the compiler supports
+# weak functions, then it should not be necessary to
+# disable functions unless you want to restrict usage
+# of those APIs.
+#
+# There are certain dependency relationships in these
+# features.
+#
+# o mq_notify logic depends on signals to awaken tasks
+#   waiting for queues to become full or empty.
+# o pthread_condtimedwait() depends on signals to wake
+#   up waiting tasks.
+#
+CONFIG_DISABLE_CLOCK=n
+CONFIG_DISABLE_POSIX_TIMERS=y
+CONFIG_DISABLE_PTHREAD=n
+CONFIG_DISABLE_SIGNALS=n
+CONFIG_DISABLE_MQUEUE=y
+CONFIG_DISABLE_MOUNTPOINT=n
+CONFIG_DISABLE_ENVIRON=n
+CONFIG_DISABLE_POLL=n
+
+#
+# Misc libc settings
+#
+# CONFIG_NOPRINTF_FIELDWIDTH - sprintf-related logic is a
+#   little smaller if we do not support fieldwidthes
+#
+CONFIG_NOPRINTF_FIELDWIDTH=n
+CONFIG_C99_BOOL8=y
+
+#
+# Allow for architecture optimized implementations
+#
+# The architecture can provide optimized versions of the
+# following to improve system performance
+#
+CONFIG_ARCH_MEMCPY=n
+CONFIG_ARCH_MEMCMP=n
+CONFIG_ARCH_MEMMOVE=n
+CONFIG_ARCH_MEMSET=n
+CONFIG_ARCH_STRCMP=n
+CONFIG_ARCH_STRCPY=n
+CONFIG_ARCH_STRNCPY=n
+CONFIG_ARCH_STRLEN=n
+CONFIG_ARCH_STRNLEN=n
+CONFIG_ARCH_BZERO=n
+
+#
+# Sizes of configurable things (0 disables)
+#
+# CONFIG_MAX_TASKS - The maximum number of simultaneously
+#   active tasks.  This value must be a power of two.
+# CONFIG_MAX_TASK_ARGS - This controls the maximum number of
+#   of parameters that a task may receive (i.e., maxmum value
+#   of 'argc')
+# CONFIG_NPTHREAD_KEYS - The number of items of thread-
+#   specific data that can be retained
+# CONFIG_NFILE_DESCRIPTORS - The maximum number of file
+#   descriptors (one for each open)
+# CONFIG_NFILE_STREAMS - The maximum number of streams that
+#   can be fopen'ed
+# CONFIG_NAME_MAX - The maximum size of a file name.
+# CONFIG_STDIO_BUFFER_SIZE - Size of the buffer to allocate
+#   on fopen. (Only if CONFIG_NFILE_STREAMS > 0)
+# CONFIG_NUNGET_CHARS - Number of characters that can be
+#   buffered by ungetc() (Only if CONFIG_NFILE_STREAMS > 0)
+# CONFIG_PREALLOC_MQ_MSGS - The number of pre-allocated message
+#   structures.  The system manages a pool of preallocated
+#   message structures to minimize dynamic allocations
+# CONFIG_MQ_MAXMSGSIZE - Message structures are allocated with
+#   a fixed payload size given by this settin (does not include
+#   other message structure overhead.
+# CONFIG_MAX_WDOGPARMS - Maximum number of parameters that
+#   can be passed to a watchdog handler
+# CONFIG_PREALLOC_WDOGS - The number of pre-allocated watchdog
+#   structures.  The system manages a pool of preallocated
+#   watchdog structures to minimize dynamic allocations
+# CONFIG_PREALLOC_TIMERS - The number of pre-allocated POSIX
+#   timer structures.  The system manages a pool of preallocated
+#   timer structures to minimize dynamic allocations.  Set to
+#   zero for all dynamic allocations.
+#
+CONFIG_MAX_TASKS=4
+CONFIG_MAX_TASK_ARGS=4
+CONFIG_NPTHREAD_KEYS=2
+CONFIG_NFILE_DESCRIPTORS=6
+CONFIG_NFILE_STREAMS=4
+CONFIG_NAME_MAX=32
+CONFIG_STDIO_BUFFER_SIZE=64
+#CONFIG_STDIO_LINEBUFFER=y
+CONFIG_NUNGET_CHARS=2
+CONFIG_PREALLOC_MQ_MSGS=1
+CONFIG_MQ_MAXMSGSIZE=32
+CONFIG_MAX_WDOGPARMS=2
+CONFIG_PREALLOC_WDOGS=3
+CONFIG_PREALLOC_TIMERS=1
+
+
+#
+# File Systems
+#
+
+#
+# File system configuration
+#
+CONFIG_FS_ROMFS=y
+
+#
+# NSH Library
+#
+CONFIG_NSH_LIBRARY=y
+
+#
+# Settings for apps/nshlib
+#
+# CONFIG_NSH_BUILTIN_APPS - Support external registered,
+#   "named" applications that can be executed from the NSH
+#   command line (see apps/README.txt for more information).
+# CONFIG_NSH_FILEIOSIZE - Size of a static I/O buffer
+# CONFIG_NSH_STRERROR - Use strerror(errno)
+# CONFIG_NSH_LINELEN - Maximum length of one command line
+# CONFIG_NSH_NESTDEPTH - Max number of nested if-then[-else]-fi
+# CONFIG_NSH_DISABLESCRIPT - Disable scripting support
+# CONFIG_NSH_DISABLEBG - Disable background commands
+# CONFIG_NSH_ROMFSETC - Use startup script in /etc
+# CONFIG_NSH_CONSOLE - Use serial console front end
+# CONFIG_NSH_TELNET - Use telnetd console front end
+# CONFIG_NSH_ARCHINIT - Platform provides architecture
+#   specific initialization (nsh_archinitialize()).
+#
+# If CONFIG_NSH_TELNET is selected:
+# CONFIG_NSH_IOBUFFER_SIZE -- Telnetd I/O buffer size
+# CONFIG_NSH_DHCPC - Obtain address using DHCP
+# CONFIG_NSH_IPADDR - Provides static IP address
+# CONFIG_NSH_DRIPADDR - Provides static router IP address
+# CONFIG_NSH_NETMASK - Provides static network mask
+# CONFIG_NSH_NOMAC - Use a bogus MAC address
+#
+# If CONFIG_NSH_ROMFSETC is selected:
+# CONFIG_NSH_ROMFSMOUNTPT - ROMFS mountpoint
+# CONFIG_NSH_INITSCRIPT - Relative path to init script
+# CONFIG_NSH_ROMFSDEVNO - ROMFS RAM device minor
+# CONFIG_NSH_ROMFSSECTSIZE - ROMF sector size
+# CONFIG_NSH_FATDEVNO - FAT FS RAM device minor
+# CONFIG_NSH_FATSECTSIZE - FAT FS sector size
+# CONFIG_NSH_FATNSECTORS - FAT FS number of sectors
+# CONFIG_NSH_FATMOUNTPT - FAT FS mountpoint
+#
+CONFIG_BUILTIN=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_FILEIOSIZE=64
+CONFIG_NSH_STRERROR=n
+CONFIG_NSH_READLINE=y
+CONFIG_NSH_LINELEN=64
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_MAXARGUMENTS=12
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_NESTDEPTH=1
+CONFIG_NSH_DISABLESCRIPT=n
+CONFIG_NSH_DISABLEBG=n
+CONFIG_NSH_ROMFSETC=n
+CONFIG_NSH_CONSOLE=y
+CONFIG_NSH_TELNET=n
+CONFIG_NSH_ARCHINIT=n
+CONFIG_NSH_IOBUFFER_SIZE=256
+CONFIG_NSH_STACKSIZE=1024
+CONFIG_NSH_DHCPC=n
+CONFIG_NSH_NOMAC=n
+CONFIG_NSH_IPADDR=(10<<24|0<<16|0<<8|2)
+CONFIG_NSH_DRIPADDR=(10<<24|0<<16|0<<8|1)
+CONFIG_NSH_NETMASK=(255<<24|255<<16|255<<8|0)
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSMOUNTPT="/etc"
+CONFIG_NSH_INITSCRIPT="init.d/rcS"
+CONFIG_NSH_ROMFSDEVNO=0
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_ARCHROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_NSH_FATDEVNO=1
+CONFIG_NSH_FATSECTSIZE=512
+CONFIG_NSH_FATNSECTORS=1024
+CONFIG_NSH_FATMOUNTPT=/tmp
+CONFIG_NSH_DISABLE_MOUNT=n
+
+
+CONFIG_I2C=y
+# CONFIG_I2C_SLAVE is not set
+CONFIG_I2C_TRANSFER=y
+# CONFIG_I2C_WRITEREAD is not set
+# CONFIG_I2C_POLLED is not set
+# CONFIG_I2C_TRACE is not set
+CONFIG_ARCH_HAVE_I2CRESET=y
+CONFIG_I2C_RESET=y
+CONFIG_SPI=y
+CONFIG_SPI_EXCHANGE=y
+CONFIG_WATCHDOG=y
+
+#
+# Architecture-specific NSH options
+#
+CONFIG_NSH_MMCSDSPIPORTNO=0
+CONFIG_NSH_MMCSDSLOTNO=0
+CONFIG_NSH_MMCSDMINOR=0
+
+#
+# readline()
+#
+CONFIG_SYSTEM_READLINE=y
+CONFIG_READLINE_ECHO=y
+
+#
+# Stack and heap information
+#
+# CONFIG_BOOT_RUNFROMFLASH - Some configurations support XIP
+#   operation from FLASH but must copy initialized .data sections to RAM.
+#   (should also be =n for the STM3210E-EVAL which always runs from flash)
+# CONFIG_BOOT_COPYTORAM -  Some configurations boot in FLASH
+#   but copy themselves entirely into RAM for better performance.
+# CONFIG_CUSTOM_STACK - The up_ implementation will handle
+#   all stack operations outside of the nuttx model.
+# CONFIG_STACK_POINTER - The initial stack pointer (arm7tdmi only)
+# CONFIG_IDLETHREAD_STACKSIZE - The size of the initial stack.
+#  This is the thread that (1) performs the inital boot of the system up
+#  to the point where user_start() is spawned, and (2) there after is the
+#  IDLE thread that executes only when there is no other thread ready to
+#  run.
+# CONFIG_USERMAIN_STACKSIZE - The size of the stack to allocate
+#  for the main user thread that begins at the user_start() entry point.
+# CONFIG_PTHREAD_STACK_MIN - Minimum pthread stack size
+# CONFIG_PTHREAD_STACK_DEFAULT - Default pthread stack size
+# CONFIG_HEAP_BASE - The beginning of the heap
+# CONFIG_HEAP_SIZE - The size of the heap
+#
+CONFIG_BOOT_RUNFROMFLASH=y
+CONFIG_BOOT_COPYTORAM=n
+CONFIG_CUSTOM_STACK=n
+CONFIG_STACK_POINTER=
+CONFIG_IDLETHREAD_STACKSIZE=280
+CONFIG_USERMAIN_STACKSIZE=1024
+CONFIG_PTHREAD_STACK_MIN=256
+CONFIG_PTHREAD_STACK_DEFAULT=340
+CONFIG_HEAP_BASE=
+CONFIG_HEAP_SIZE=
+CONFIG_POSIX_SPAWN_PROXY_STACKSIZE=768
+CONFIG_TASK_SPAWN_DEFAULT_STACKSIZE=768
+CONFIG_BUILTIN_PROXY_STACKSIZE=768
+
diff --git a/nuttx-configs/mavstation/nsh/oldapconfig b/nuttx-configs/mavstation/nsh/oldapconfig
new file mode 100644
index 000000000..c022f1c9d
--- /dev/null
+++ b/nuttx-configs/mavstation/nsh/oldapconfig
@@ -0,0 +1,52 @@
+############################################################################
+# configs/stm3210e-eval/nsh/appconfig
+#
+#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# 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 NuttX 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.
+#
+############################################################################
+
+# Path to example in apps/examples containing the user_start entry point
+
+#CONFIGURED_APPS += examples/mavstation
+CONFIGURED_APPS += examples/hello
+
+CONFIGURED_APPS += system/readline
+CONFIGURED_APPS += nshlib
+CONFIGURED_APPS += reboot
+
+CONFIGURED_APPS += drivers/boards/mavstation
+
+#ifeq ($(CONFIG_USBDEV),y)
+#ifeq ($(CONFIG_CDCACM),y)
+	CONFIGURED_APPS += examples/cdcacm
+#endif
+#endif
+
diff --git a/nuttx-configs/mavstation/nsh/setenv.sh b/nuttx-configs/mavstation/nsh/setenv.sh
new file mode 100755
index 000000000..ff9a4bf8a
--- /dev/null
+++ b/nuttx-configs/mavstation/nsh/setenv.sh
@@ -0,0 +1,47 @@
+#!/bin/bash
+# configs/stm3210e-eval/dfu/setenv.sh
+#
+#   Copyright (C) 2009 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name NuttX nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+
+if [ "$(basename $0)" = "setenv.sh" ] ; then
+  echo "You must source this script, not run it!" 1>&2
+  exit 1
+fi
+
+if [ -z "${PATH_ORIG}" ]; then export PATH_ORIG="${PATH}"; fi
+
+WD=`pwd`
+export RIDE_BIN="/cygdrive/c/Program Files/Raisonance/Ride/arm-gcc/bin"
+export BUILDROOT_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin"
+export PATH="${BUILDROOT_BIN}:${RIDE_BIN}:/sbin:/usr/sbin:${PATH_ORIG}"
+
+echo "PATH : ${PATH}"
diff --git a/nuttx-configs/mavstation/scripts/ld.script b/nuttx-configs/mavstation/scripts/ld.script
new file mode 100755
index 000000000..5986eebf0
--- /dev/null
+++ b/nuttx-configs/mavstation/scripts/ld.script
@@ -0,0 +1,129 @@
+/****************************************************************************
+ * configs/stm3210e-eval/nsh/ld.script
+ *
+ *   Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * 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 NuttX 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.
+ *
+ ****************************************************************************/
+
+/* The STM32F102CB has 128Kb of FLASH beginning at address 0x0800:0000 and
+ * 16Kb of SRAM beginning at address 0x2000:0000.  When booting from FLASH,
+ * FLASH memory is aliased to address 0x0000:0000 where the code expects to
+ * begin execution by jumping to the entry point in the 0x0800:0000 address
+ * range.
+ */
+
+MEMORY
+{
+    flash (rx) : ORIGIN = 0x08002000, LENGTH = 120K
+    sram (rwx) : ORIGIN = 0x20000000, LENGTH = 16K
+}
+
+OUTPUT_ARCH(arm)
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/* 
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		*(.text .text.*)        
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)        
+		*(.gnu.linkonce.t.*)
+		*(.glue_7)
+		*(.glue_7t)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+        .init_section : {
+                _sinit = ABSOLUTE(.);
+                KEEP(*(.init_array .init_array.*))
+                _einit = ABSOLUTE(.);
+        } > flash
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	/* The STM32F102CB has 16Kb of SRAM beginning at the following address */
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}
diff --git a/nuttx-configs/mavstation/src/Makefile b/nuttx-configs/mavstation/src/Makefile
new file mode 100644
index 000000000..0e10b8efe
--- /dev/null
+++ b/nuttx-configs/mavstation/src/Makefile
@@ -0,0 +1,84 @@
+############################################################################
+# configs/mavstation/src/Makefile
+#
+#   Copyright (C) 2009-2010 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+#
+# 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 NuttX 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.
+#
+############################################################################
+
+-include $(TOPDIR)/Make.defs
+
+CFLAGS		+= -I$(TOPDIR)/sched
+
+ASRCS		= 
+AOBJS		= $(ASRCS:.S=$(OBJEXT))
+
+CSRCS		= empty.c
+
+COBJS		= $(CSRCS:.c=$(OBJEXT))
+
+SRCS		= $(ASRCS) $(CSRCS)
+OBJS		= $(AOBJS) $(COBJS)
+
+ARCH_SRCDIR	= $(TOPDIR)/arch/$(CONFIG_ARCH)/src
+ifeq ($(WINTOOL),y)
+  CFLAGS	+= -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
+  		   -I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
+  		   -I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
+else
+  CFLAGS	+= -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
+endif
+
+all: libboard$(LIBEXT)
+
+$(AOBJS): %$(OBJEXT): %.S
+	$(call ASSEMBLE, $<, $@)
+
+$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
+	$(call COMPILE, $<, $@)
+
+libboard$(LIBEXT): $(OBJS)
+	$(call ARCHIVE, $@, $(OBJS))
+
+.depend: Makefile $(SRCS)
+	@$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@touch $@
+
+depend: .depend
+
+clean:
+	$(call DELFILE, libboard$(LIBEXT))
+	$(call CLEAN)
+
+distclean: clean
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
+
+-include Make.dep
diff --git a/nuttx-configs/mavstation/src/README.txt b/nuttx-configs/mavstation/src/README.txt
new file mode 100644
index 000000000..c6c9eb496
--- /dev/null
+++ b/nuttx-configs/mavstation/src/README.txt
@@ -0,0 +1 @@
+This directory contains drivers unique to the Mavstation board.
diff --git a/nuttx-configs/mavstation/src/empty.c b/nuttx-configs/mavstation/src/empty.c
new file mode 100644
index 000000000..5de10699f
--- /dev/null
+++ b/nuttx-configs/mavstation/src/empty.c
@@ -0,0 +1,4 @@
+/*
+ * There are no source files here, but libboard.a can't be empty, so
+ * we have this empty source file to keep it company.
+ */
diff --git a/src/drivers/boards/mavstation/board_config.h b/src/drivers/boards/mavstation/board_config.h
new file mode 100644
index 000000000..8aeeac83c
--- /dev/null
+++ b/src/drivers/boards/mavstation/board_config.h
@@ -0,0 +1,86 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2015 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 board_config.h
+ *
+ * PX4IO hardware definitions.
+ */
+
+#pragma once
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+/* these headers are not C++ safe */
+#include <stm32.h>
+#include <arch/board/board.h>
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+#define UDID_START		0x1FFFF7E8
+/* PX4IO GPIOs **********************************************************************/
+/* LEDs */
+
+#define GPIO_LED1       (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|\
+			 GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14)
+#define GPIO_LED2       (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|\
+			 GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN15)
+#define GPIO_LED3       (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|\
+			 GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+
+/* USB Pullup *************************************************************/
+
+#define GPIO_USB_PULLUP (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|\
+			 GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
+/* PWM Outputs ********************************************************************/
+
+
+#define GPIO_PWM1 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
+#define GPIO_PWM2 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
+#define GPIO_PWM3 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
+#define GPIO_PWM4 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
+
+/* Not used or conflicting with HRT Timer 3 *****************************************/
+//#define GPIO_PWM5 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN6)
+//#define GPIO_PWM6 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
+//#define GPIO_PWM7 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
+//#define GPIO_PWM8 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
+
+extern void stm32_usbinitialize(void);
diff --git a/src/drivers/boards/mavstation/mavstation_init.c b/src/drivers/boards/mavstation/mavstation_init.c
new file mode 100644
index 000000000..94bb1d04a
--- /dev/null
+++ b/src/drivers/boards/mavstation/mavstation_init.c
@@ -0,0 +1,147 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2015 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 mavstation_init.c
+ *
+ * mavstation-specific early startup code.  This file implements the
+ * nsh_archinitialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialisation.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/arch.h>
+
+#include <stm32.h>
+#include "board_config.h"
+
+#include <arch/board/board.h>
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************/
+
+/* Debug ********************************************************************/
+
+#ifdef CONFIG_CPP_HAVE_VARARGS
+#  ifdef CONFIG_DEBUG
+#    define message(...) lowsyslog(__VA_ARGS__)
+#  else
+#    define message(...) printf(__VA_ARGS__)
+#  endif
+#else
+#  ifdef CONFIG_DEBUG
+#    define message lowsyslog
+#  else
+#    define message printf
+#  endif
+#endif
+
+/****************************************************************************
+ * Protected Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the intitialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_boardinitialize(void)
+{
+
+	/* configure GPIOs */
+
+	/* turn off - all leds are active low */
+	stm32_gpiowrite(GPIO_LED1, true);
+	stm32_gpiowrite(GPIO_LED2, true);
+	stm32_gpiowrite(GPIO_LED3, true);
+	stm32_configgpio(GPIO_LED1);
+	stm32_configgpio(GPIO_LED2);
+	stm32_configgpio(GPIO_LED3);
+
+
+	stm32_configgpio(GPIO_USB_PULLUP);
+	stm32_gpiowrite(GPIO_USB_PULLUP, false);
+
+
+	stm32_gpiowrite(GPIO_PWM1, false);
+	stm32_configgpio(GPIO_PWM1);
+
+	stm32_gpiowrite(GPIO_PWM2, false);
+	stm32_configgpio(GPIO_PWM2);
+
+	stm32_gpiowrite(GPIO_PWM3, false);
+	stm32_configgpio(GPIO_PWM3);
+
+	stm32_gpiowrite(GPIO_PWM4, false);
+	stm32_configgpio(GPIO_PWM4);
+
+#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
+
+	/* run C++ ctors before we go any further */
+
+	up_cxxinitialize();
+
+#	if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
+#  		error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
+#	endif
+
+#else
+#  error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
+#endif
+	stm32_usbinitialize();
+
+}
diff --git a/src/drivers/boards/mavstation/mavstation_led.c b/src/drivers/boards/mavstation/mavstation_led.c
new file mode 100644
index 000000000..16650b824
--- /dev/null
+++ b/src/drivers/boards/mavstation/mavstation_led.c
@@ -0,0 +1,142 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2015 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 mavstation_led.c
+ *
+ * MAVSTATION LED backend.
+ */
+
+#include <nuttx/config.h>
+
+#include <stdbool.h>
+
+#include "stm32.h"
+#include "board_config.h"
+
+#include <arch/board/board.h>
+
+/*
+ * Ideally we'd be able to get these from up_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+extern void led_toggle(int led);
+__END_DECLS
+
+__EXPORT void led_init()
+{
+	/* Configure LED1 GPIO for output */
+
+	stm32_configgpio(GPIO_LED1);
+	stm32_configgpio(GPIO_LED2);
+	stm32_configgpio(GPIO_LED3);
+}
+
+__EXPORT void led_on(int led)
+{
+	switch (led) {
+	case 1:
+		stm32_gpiowrite(GPIO_LED1, true);
+		break;
+
+	case 2:
+		stm32_gpiowrite(GPIO_LED2, true);
+		break;
+
+	case 0:
+		stm32_gpiowrite(GPIO_LED3, true);
+		break;
+	}
+
+}
+
+__EXPORT void led_off(int led)
+{
+	switch (led) {
+	case 1:
+		stm32_gpiowrite(GPIO_LED1, false);
+		break;
+
+	case 2:
+		stm32_gpiowrite(GPIO_LED2, false);
+		break;
+
+	case 0:
+		stm32_gpiowrite(GPIO_LED3, false);
+		break;
+	}
+
+}
+
+__EXPORT void led_toggle(int led)
+{
+	switch (led) {
+	case 1:
+		if (stm32_gpioread(GPIO_LED1)) {
+			stm32_gpiowrite(GPIO_LED1, false);
+
+		} else {
+			stm32_gpiowrite(GPIO_LED1, true);
+		}
+
+		break;
+
+	case 2:
+		if (stm32_gpioread(GPIO_LED2)) {
+			stm32_gpiowrite(GPIO_LED2, false);
+
+		} else {
+			stm32_gpiowrite(GPIO_LED2, true);
+		}
+
+		break;
+
+	case 0:
+		if (stm32_gpioread(GPIO_LED3)) {
+			stm32_gpiowrite(GPIO_LED3, false);
+
+		} else {
+			stm32_gpiowrite(GPIO_LED3, true);
+		}
+
+		break;
+	}
+
+}
diff --git a/src/drivers/boards/mavstation/mavstation_pwm_servo.c b/src/drivers/boards/mavstation/mavstation_pwm_servo.c
new file mode 100644
index 000000000..ffb1eca9d
--- /dev/null
+++ b/src/drivers/boards/mavstation/mavstation_pwm_servo.c
@@ -0,0 +1,93 @@
+/****************************************************************************
+ *
+ *  Copyright (c) 2012-2015 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 mavstation_pwm_servo.c
+ *
+ * Configuration data for the stm32 pwm_servo driver.
+ *
+ * Note that these arrays must always be fully-sized.
+ */
+
+#include <stdint.h>
+
+#include <drivers/stm32/drv_pwm_servo.h>
+
+#include <arch/board/board.h>
+#include <drivers/drv_pwm_output.h>
+
+#include <stm32.h>
+#include <stm32_gpio.h>
+#include <stm32_tim.h>
+
+__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = {
+	{
+		.base = STM32_TIM2_BASE,
+		.clock_register = STM32_RCC_APB1ENR,
+		.clock_bit = RCC_APB1ENR_TIM2EN,
+		.clock_freq = STM32_APB1_TIM2_CLKIN
+	},
+	{
+		.base = STM32_TIM4_BASE,
+		.clock_register = STM32_RCC_APB1ENR,
+		.clock_bit = RCC_APB1ENR_TIM4EN,
+		.clock_freq = STM32_APB1_TIM4_CLKIN
+	}
+};
+
+__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = {
+	{
+		.gpio = GPIO_TIM2_CH1OUT,
+		.timer_index = 0,
+		.timer_channel = 1,
+		.default_value = 1000,
+	},
+	{
+		.gpio = GPIO_TIM2_CH2OUT,
+		.timer_index = 0,
+		.timer_channel = 2,
+		.default_value = 1000,
+	},
+	{
+		.gpio = GPIO_TIM4_CH3OUT,
+		.timer_index = 2,
+		.timer_channel = 3,
+		.default_value = 1000,
+	},
+	{
+		.gpio = GPIO_TIM4_CH4OUT,
+		.timer_index = 2,
+		.timer_channel = 4,
+		.default_value = 1000,
+	},
+};
diff --git a/src/drivers/boards/mavstation/mavstation_usb.c b/src/drivers/boards/mavstation/mavstation_usb.c
new file mode 100644
index 000000000..dda47cc5a
--- /dev/null
+++ b/src/drivers/boards/mavstation/mavstation_usb.c
@@ -0,0 +1,116 @@
+/************************************************************************************
+ * configs/stm32_tiny/src/up_usbdev.c
+ *
+ *   Copyright (C) 2009-2011, 2013 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *           Laurent Latil <laurent@latil.nom.fr>
+ *
+ * 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 NuttX 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.
+ *
+ ************************************************************************************/
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
+#include <nuttx/usb/usbdev.h>
+#include <nuttx/usb/usbdev_trace.h>
+
+#include <up_arch.h>
+#include <stm32.h>
+#include "board_config.h"
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_usbinitialize
+ *
+ * Description:
+ *   Called to setup USB-related GPIO pins for the Hy-Mini STM32v board.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbinitialize(void)
+{
+	ulldbg("called\n");
+
+	/* USB Soft Connect Pullup */
+	stm32_configgpio(GPIO_USB_PULLUP);
+}
+
+/************************************************************************************
+ * Name:  stm32_usbpullup
+ *
+ * Description:
+ *   If USB is supported and the board supports a pullup via GPIO (for USB software
+ *   connect and disconnect), then the board software must provide stm32_pullup.
+ *   See include/nuttx/usb/usbdev.h for additional description of this method.
+ *   Alternatively, if no pull-up GPIO the following EXTERN can be redefined to be
+ *   NULL.
+ *
+ ************************************************************************************/
+
+__EXPORT int stm32_usbpullup(FAR struct usbdev_s *dev, bool enable)
+{
+	usbtrace(TRACE_DEVPULLUP, (uint16_t)enable);
+	stm32_gpiowrite(GPIO_USB_PULLUP, true);
+	return OK;
+}
+
+/************************************************************************************
+ * Name:  stm32_usbsuspend
+ *
+ * Description:
+ *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
+ *   used.  This function is called whenever the USB enters or leaves suspend mode.
+ *   This is an opportunity for the board logic to shutdown clocks, power, etc.
+ *   while the USB is suspended.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+{
+	ulldbg("resume: %d\n", resume);
+}
diff --git a/src/drivers/boards/mavstation/module.mk b/src/drivers/boards/mavstation/module.mk
new file mode 100644
index 000000000..9333746c0
--- /dev/null
+++ b/src/drivers/boards/mavstation/module.mk
@@ -0,0 +1,16 @@
+#
+# Board-specific startup code for the mavstation
+#
+
+SRCS		= mavstation_init.c \
+		  mavstation_pwm_servo.c \
+		  mavstation_usb.c \
+		  mavstation_led.c
+
+ENABLE_CXXINITIALIZE=$(call check_nuttx_config ,"CONFIG_HAVE_CXX 1", $(NUTTX_CONFIG_H))
+ENABLE_CXXINITIALIZE+=$(call check_nuttx_config ,"CONFIG_HAVE_CXXINITIALIZE 1", $(NUTTX_CONFIG_H))
+ifeq ("$(ENABLE_CXXINITIALIZE)",$(nuttx_config_2true))
+SRCS		 +=	   ../../../modules/systemlib/up_cxxinitialize.c
+endif
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/examples/px4_simple_app/px4_simple_app.c b/src/examples/px4_simple_app/px4_simple_app.c
index 4e9f099ed..0dd359a17 100644
--- a/src/examples/px4_simple_app/px4_simple_app.c
+++ b/src/examples/px4_simple_app/px4_simple_app.c
@@ -42,6 +42,7 @@
 #include <stdio.h>
 #include <poll.h>
 #include <string.h>
+#include <math.h>
 
 #include <uORB/uORB.h>
 #include <uORB/topics/sensor_combined.h>
@@ -75,7 +76,7 @@ int px4_simple_app_main(int argc, char *argv[])
 	for (int i = 0; i < 5; i++) {
 		/* wait for sensor update of 1 file descriptor for 1000 ms (1 second) */
 		int poll_ret = poll(fds, 1, 1000);
-	 
+
 		/* handle the poll result */
 		if (poll_ret == 0) {
 			/* this means none of our providers is giving us data */
diff --git a/src/modules/mavstation_firmware/appdebug.c b/src/modules/mavstation_firmware/appdebug.c
new file mode 100644
index 000000000..340ae1470
--- /dev/null
+++ b/src/modules/mavstation_firmware/appdebug.c
@@ -0,0 +1,67 @@
+
+#include <stdarg.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <debug.h>
+
+#include <drivers/drv_hrt.h>
+#include <systemlib/perf_counter.h>
+
+#include "appdebug.h"
+
+
+static volatile uint32_t msg_counter;
+static volatile uint32_t last_msg_counter;
+static volatile uint8_t msg_next_out, msg_next_in;
+
+/*
+ * a set of debug buffers to allow us to send debug information from ISRs
+ */
+#define NUM_MSG 2
+static char msg[NUM_MSG][40];
+
+/*
+ * WARNING: too large buffers here consume the memory required
+ * for mixer handling. Do not allocate more than 80 bytes for
+ * output.
+ */
+
+void isr_debug(uint8_t level, const char *fmt, ...)
+{
+	va_list ap;
+	va_start(ap, fmt);
+	vsnprintf(msg[msg_next_in], sizeof(msg[0]), fmt, ap);
+	va_end(ap);
+	msg_next_in = (msg_next_in + 1) % NUM_MSG;
+	msg_counter++;
+}
+
+/*
+ * show all pending debug messages
+ */
+void show_debug_messages(void)
+{
+	if (msg_counter != last_msg_counter) {
+		uint32_t n = msg_counter - last_msg_counter;
+
+		if (n > NUM_MSG) { n = NUM_MSG; }
+
+		last_msg_counter = msg_counter;
+
+		while (n--) {
+			debug("%s", msg[msg_next_out]);
+			msg_next_out = (msg_next_out + 1) % NUM_MSG;
+		}
+	}
+}
+
+static uint64_t last_debug_time = 0;
+
+void isr_debug_tick(void)
+{
+	/* post debug state at ~1Hz */
+	if (hrt_absolute_time() - last_debug_time > (1000 * 1000)) {
+		/* Put debug info here */
+		last_debug_time = hrt_absolute_time();
+	}
+}
diff --git a/src/modules/mavstation_firmware/appdebug.h b/src/modules/mavstation_firmware/appdebug.h
new file mode 100644
index 000000000..907ca2814
--- /dev/null
+++ b/src/modules/mavstation_firmware/appdebug.h
@@ -0,0 +1,14 @@
+
+#ifndef __MAVSTATION_FIRMWARE_APPDEBUG_H__
+#define __MAVSTATION_FIRMWARE_APPDEBUG_H__
+
+# define debug(fmt, args...)	lowsyslog(LOG_DEBUG,fmt "\n", ##args)
+/*
+ * add a debug message to be printed on the console
+ */
+void isr_debug(uint8_t level, const char *fmt, ...);
+void isr_debug_tick(void);
+void show_debug_messages(void);
+
+#endif // __MAVSTATION_FIRMWARE_APPDEBUG_H__
+
diff --git a/src/modules/mavstation_firmware/gpio.c b/src/modules/mavstation_firmware/gpio.c
new file mode 100644
index 000000000..66b93f111
--- /dev/null
+++ b/src/modules/mavstation_firmware/gpio.c
@@ -0,0 +1,68 @@
+
+#include <stdint.h>
+
+#include <nuttx/arch.h>
+#include <arch/board/board.h>
+#include <stm32_gpio.h>
+
+#include "gpio.h"
+#include "hardware.h"
+
+struct btn {
+	uint32_t gpio;
+	bool state;
+};
+
+static const uint32_t leds[] = { GPIO_LED1, GPIO_LED2, GPIO_LED3 };
+static const int num_leds = sizeof(leds) / sizeof(leds[0]);
+
+static struct btn buttons[] = { { .gpio = GPIO_BTN0, .state = false }
+	, { .gpio = GPIO_BTN1, .state = false }
+	, { .gpio = GPIO_BTN2, .state = false }
+	, { .gpio = GPIO_BTN3, .state = false }
+	, { .gpio = GPIO_BTN4, .state = false }
+};
+static int num_buttons = sizeof(buttons) / sizeof(buttons[0]);
+
+void gpio_interface_init(void)
+{
+	for (int i = 0; i < num_leds; i++) {
+		stm32_gpiowrite(leds[i], true);
+		stm32_configgpio(leds[i]);
+	}
+
+	for (int i = 0; i < num_buttons; i++) {
+		stm32_configgpio(buttons[i].gpio);
+	}
+
+	stm32_gpiowrite(GPIO_USART2MUX, false);
+	stm32_configgpio(GPIO_USART2MUX);
+}
+
+void gpio_interface_tick(void)
+{
+	for (int i = 0; i < num_buttons; i++) {
+		buttons[i].state = stm32_gpioread(buttons[i].gpio);
+	}
+}
+
+void gpio_interface_setusart2mux(bool conn_to_rpi)
+{
+	stm32_gpiowrite(GPIO_USART2MUX, conn_to_rpi);
+}
+
+void gpio_interface_setled(int led, bool on)
+{
+	if (led >= 0 && led < num_leds) {
+		stm32_gpiowrite(leds[led], !on);
+	}
+}
+
+bool gpio_interface_getbtn(int btn)
+{
+	if (btn >= 0 && btn < num_buttons) {
+		return buttons[btn].state;
+
+	} else { return false; }
+}
+
diff --git a/src/modules/mavstation_firmware/gpio.h b/src/modules/mavstation_firmware/gpio.h
new file mode 100644
index 000000000..4d7505c94
--- /dev/null
+++ b/src/modules/mavstation_firmware/gpio.h
@@ -0,0 +1,15 @@
+
+#ifndef __MAVSTATION_FIRMWARE_GPIO_H__
+#define __MAVSTATION_FIRMWARE_GPIO_H__
+
+#include <stdbool.h>
+
+void gpio_interface_init(void);
+void gpio_interface_tick(void);
+void gpio_interface_setled(int, bool);
+bool gpio_interface_getbtn(int);
+
+void gpio_interface_setusart2mux(bool conn_to_rpi);
+
+#endif // __MAVSTATION_FIRMWARE_GPIO_H__
+
diff --git a/src/modules/mavstation_firmware/hardware.h b/src/modules/mavstation_firmware/hardware.h
new file mode 100644
index 000000000..dae97fb8a
--- /dev/null
+++ b/src/modules/mavstation_firmware/hardware.h
@@ -0,0 +1,20 @@
+
+#ifndef __MAVSTATION_FIRMWARE_HARDWARE_H__
+#define __MAVSTATION_FIRMWARE_HARDWARE_H__
+
+
+#define GPIO_USART2MUX (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN12)
+#define GPIO_USB_PULL (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
+#define GPIO_LED1 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13)
+#define GPIO_LED2 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14)
+#define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN15)
+
+#define GPIO_BTN0 (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4)
+#define GPIO_BTN1 (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN5)
+#define GPIO_BTN2 (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN2)
+#define GPIO_BTN3 (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN13)
+#define GPIO_BTN4 (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN14)
+
+
+#endif // __MAVSTATION_FIRMWARE_HARDWARE_H__
+
diff --git a/src/modules/mavstation_firmware/mavstation.c b/src/modules/mavstation_firmware/mavstation.c
new file mode 100644
index 000000000..977763b34
--- /dev/null
+++ b/src/modules/mavstation_firmware/mavstation.c
@@ -0,0 +1,151 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2015 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 mavstation.c
+ * Top-level logic for the mavstation module.
+ */
+
+#include <nuttx/config.h>
+
+#include <stdio.h>	// required for task_create
+#include <stdbool.h>
+#include <stdlib.h>
+#include <errno.h>
+#include <string.h>
+#include <poll.h>
+#include <time.h>
+#include <signal.h>
+
+#include <drivers/drv_pwm_output.h>
+#include <drivers/drv_hrt.h>
+
+#include <systemlib/perf_counter.h>
+
+#include <stm32_uart.h>
+
+#include "sysstate.h"
+#include "gpio.h"
+#include "appdebug.h"
+
+__EXPORT int user_start(int argc, char *argv[]);
+
+struct sys_state_s system_state;
+
+#ifdef CONFIG_ARCH_DMA
+static struct hrt_call serial_dma_call;
+#endif
+int MuxFlag, MuxState;
+
+__EXPORT int mavstation_main(int argc, char *argv[]);
+int
+mavstation_main(int argc, char *argv[])
+{
+	/* reset all to zero */
+	memset(&system_state, 0, sizeof(system_state));
+
+	/* configure the high-resolution time/callout interface */
+	hrt_init();
+
+	/*
+	 * Poll at 1ms intervals for received bytes that have not triggered
+	 * a DMA event.
+	 */
+#ifdef CONFIG_ARCH_DMA
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
+
+	/* print some startup info */
+	debug("\nmavstation: starting\n");
+
+	/* start gpio interface */
+	gpio_interface_init();
+	/* pass usart2 to raspberry pi by default */
+	gpio_interface_setusart2mux(false);
+	MuxState = 0;
+	MuxFlag = 0;
+
+	/* add a performance counter for the interface */
+	perf_counter_t interface_perf = perf_alloc(PC_ELAPSED, "interface");
+
+	/* and one for measuring the loop rate */
+	perf_counter_t loop_perf = perf_alloc(PC_INTERVAL, "loop");
+
+	/*
+	 * Run everything in a tight loop.
+	 */
+
+	for (;;) {
+
+		/* track the rate at which the loop is running */
+		perf_count(loop_perf);
+
+		/* kick the interface */
+		perf_begin(interface_perf);
+		gpio_interface_tick();
+
+		if (gpio_interface_getbtn(0) & !MuxFlag) {
+			if (MuxState) {
+				gpio_interface_setusart2mux(false);
+				gpio_interface_setled(2, 1);
+				MuxState = 0;
+
+			} else {
+				gpio_interface_setusart2mux(true);
+				gpio_interface_setled(2, 0);
+				MuxState = 1;
+			}
+
+			MuxFlag = 1;
+
+		} else if (!gpio_interface_getbtn(0)) {
+			MuxFlag = 0;
+		}
+
+#ifdef DEBUG_GPIOS
+
+		for (int i = 1; i < 5; i++) {
+			gpio_interface_setled(((i % 2)), gpio_interface_getbtn(i));
+		}
+
+#endif
+
+		perf_end(interface_perf);
+
+		/* check for debug activity */
+		show_debug_messages();
+		isr_debug_tick();
+
+	}
+}
+
diff --git a/src/modules/mavstation_firmware/module.mk b/src/modules/mavstation_firmware/module.mk
new file mode 100644
index 000000000..e2a94b5db
--- /dev/null
+++ b/src/modules/mavstation_firmware/module.mk
@@ -0,0 +1,11 @@
+
+MODULE_COMMAND		= mavstation
+
+SRCS		= gpio.c \
+		  mavstation.c \
+		  appdebug.c \
+		  ../systemlib/perf_counter.c
+
+MODULE_STACKSIZE = 512
+
+MAXOPTIMIZATION = -Os
diff --git a/src/modules/mavstation_firmware/sysstate.h b/src/modules/mavstation_firmware/sysstate.h
new file mode 100644
index 000000000..ddb594549
--- /dev/null
+++ b/src/modules/mavstation_firmware/sysstate.h
@@ -0,0 +1,21 @@
+
+#ifndef __MAVSTATION_FIRMWARE_SYS_STATE_H__
+#define __MAVSTATION_FIRMWARE_SYS_STATE_H__
+
+/*
+ * System state structure.
+ */
+struct sys_state_s {
+
+	volatile uint64_t	rc_channels_timestamp;
+
+	/**
+	 * Last FMU receive time, in microseconds since system boot
+	 */
+	volatile uint64_t	fmu_data_received_time;
+
+};
+
+extern struct sys_state_s system_state;
+
+#endif // __MAVSTATION_FIRMWARE_SYS_STATE_H__