Optimize size of system lib

34 files changed, 218 insertions, 158 deletions

diff --git a/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
index d114fe21a..4d6d350b8 100644
--- a/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
+++ b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
@@ -1,14 +1,10 @@
 #!nsh
 #
-# HILStar / X-Plane
-#
-# Lorenz Meier <lm@inf.ethz.ch>
+# HILStar
+# <lorenz@px4.io>
 #
 
 sh /etc/init.d/rc.fw_defaults
 
-echo "X Plane HIL starting.."
-
 set HIL yes
-
 set MIXER FMU_AERT
diff --git a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
index b1aa8c00b..c8379e3a1 100644
--- a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
+++ b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
@@ -2,7 +2,7 @@
 #
 # Team Blacksheep Discovery Quadcopter
 #
-# Anton Babushkin <anton.babushkin@me.com>, Simon Wilks <sjwilks@gmail.com>, Thomas Gubler <thomasgubler@gmail.com>
+# Anton Babushkin <anton@px4.io>, Simon Wilks <simon@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults
diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris
index 3f47390c1..0b422de7e 100644
--- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris
+++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris
@@ -2,7 +2,7 @@
 #
 # 3DR Iris Quadcopter
 #
-# Anton Babushkin <anton.babushkin@me.com>
+# Anton Babushkin <anton@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults
diff --git a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
index 6179855f6..a621de7ce 100644
--- a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
+++ b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
@@ -2,8 +2,7 @@
 #
 # Steadidrone QU4D
 #
-# Thomas Gubler <thomasgubler@gmail.com>
-# Lorenz Meier <lm@inf.ethz.ch>
+# Thomas Gubler <thomas@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults
diff --git a/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil b/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
index 7a7a9542c..1c4f6803b 100644
--- a/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
+++ b/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
@@ -2,7 +2,7 @@
 #
 # HIL Quadcopter X
 #
-# Anton Babushkin <anton.babushkin@me.com>
+# Anton Babushkin <anton@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults
diff --git a/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil b/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil
index c47500c7a..0cbdd75be 100644
--- a/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil
+++ b/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil
@@ -2,7 +2,7 @@
 #
 # HIL Quadcopter +
 #
-# Anton Babushkin <anton.babushkin@me.com>
+# Anton Babushkin <anton@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults
diff --git a/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil b/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil
index 4e3e18326..fb440d2fc 100644
--- a/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil
+++ b/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil
@@ -2,13 +2,11 @@
 #
 # HIL Rascal 110 (Flightgear)
 #
-# Thomas Gubler <thomasgubler@gmail.com>
+# Thomas Gubler <thomas@px4.io>
 #
 
 sh /etc/init.d/rc.fw_defaults
 
-echo "HIL Rascal 110 starting.."
-
 set HIL yes
 
 set MIXER FMU_AERT
diff --git a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
index 941f5664a..00b97d675 100644
--- a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
+++ b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
@@ -2,7 +2,7 @@
 #
 # HIL Malolo 1 (Flightgear)
 #
-# Thomas Gubler <thomasgubler@gmail.com>
+# Thomas Gubler <thomas@px4.io>
 #
 
 sh /etc/init.d/rc.fw_defaults
diff --git a/ROMFS/px4fmu_common/init.d/11001_hexa_cox b/ROMFS/px4fmu_common/init.d/11001_hexa_cox
index daa04a4de..e4d96fbd5 100644
--- a/ROMFS/px4fmu_common/init.d/11001_hexa_cox
+++ b/ROMFS/px4fmu_common/init.d/11001_hexa_cox
@@ -2,12 +2,12 @@
 #
 # Generic 10" Hexa coaxial geometry
 #
-# Lorenz Meier <lm@inf.ethz.ch>
+# Lorenz Meier <lorenz@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults
 
 set MIXER FMU_hexa_cox
 
-# We only can run one channel group with one rate, so set all 8 channels
+# Need to set all 8 channels
 set PWM_OUTPUTS 12345678
diff --git a/ROMFS/px4fmu_common/init.d/12001_octo_cox b/ROMFS/px4fmu_common/init.d/12001_octo_cox
index 8703f5f2f..f820251ad 100644
--- a/ROMFS/px4fmu_common/init.d/12001_octo_cox
+++ b/ROMFS/px4fmu_common/init.d/12001_octo_cox
@@ -2,7 +2,7 @@
 #
 # Generic 10" Octo coaxial geometry
 #
-# Lorenz Meier <lm@inf.ethz.ch>
+# Lorenz Meier <lorenz@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults
diff --git a/ROMFS/px4fmu_common/init.d/3031_phantom b/ROMFS/px4fmu_common/init.d/3031_phantom
index 53c48d8aa..a7749cba6 100644
--- a/ROMFS/px4fmu_common/init.d/3031_phantom
+++ b/ROMFS/px4fmu_common/init.d/3031_phantom
@@ -2,7 +2,7 @@
 #
 # Phantom FPV Flying Wing
 #
-# Simon Wilks <sjwilks@gmail.com>, Thomas Gubler <thomasgubler@gmail.com>
+# Simon Wilks <simon@px4.io>
 #
 
 sh /etc/init.d/rc.fw_defaults
@@ -21,8 +21,6 @@ then
 	param set FW_PR_P 0.03
 	param set FW_P_LIM_MAX 50
 	param set FW_P_LIM_MIN -50
-	param set FW_P_RMAX_NEG 0
-	param set FW_P_RMAX_POS 0
 	param set FW_P_ROLLFF 1
 	param set FW_RR_FF 0.5
 	param set FW_RR_I 0.02
diff --git a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
index 7d0dc5bff..26c7c95e6 100644
--- a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
+++ b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
@@ -2,7 +2,7 @@
 #
 # Skywalker X5 Flying Wing
 #
-# Thomas Gubler <thomasgubler@gmail.com>, Julian Oes <joes@student.ethz.ch>
+# Thomas Gubler <thomas@px4.io>, Julian Oes <julian@px4.io>
 #
 
 sh /etc/init.d/rc.fw_defaults
@@ -19,10 +19,6 @@ then
 	param set FW_PR_I 0
 	param set FW_PR_IMAX 0.2
 	param set FW_PR_P 0.03
-	param set FW_P_LIM_MAX 45
-	param set FW_P_LIM_MIN -45
-	param set FW_P_RMAX_NEG 0
-	param set FW_P_RMAX_POS 0
 	param set FW_P_ROLLFF 1
 	param set FW_RR_FF 0.3
 	param set FW_RR_I 0
diff --git a/ROMFS/px4fmu_common/init.d/3033_wingwing b/ROMFS/px4fmu_common/init.d/3033_wingwing
index f4dedef15..919eefb4a 100644
--- a/ROMFS/px4fmu_common/init.d/3033_wingwing
+++ b/ROMFS/px4fmu_common/init.d/3033_wingwing
@@ -2,7 +2,7 @@
 #
 # Wing Wing (aka Z-84) Flying Wing
 #
-# Simon Wilks <sjwilks@gmail.com>
+# Simon Wilks <simon@px4.io>
 #
 
 sh /etc/init.d/rc.fw_defaults
diff --git a/ROMFS/px4fmu_common/init.d/3034_fx79 b/ROMFS/px4fmu_common/init.d/3034_fx79
index f4bd18269..4a76ba6eb 100644
--- a/ROMFS/px4fmu_common/init.d/3034_fx79
+++ b/ROMFS/px4fmu_common/init.d/3034_fx79
@@ -2,7 +2,7 @@
 #
 # FX-79 Buffalo Flying Wing
 #
-# Simon Wilks <sjwilks@gmail.com>
+# Simon Wilks <simon@px4.io>
 #
 
 sh /etc/init.d/rc.fw_defaults
diff --git a/ROMFS/px4fmu_common/init.d/3035_viper b/ROMFS/px4fmu_common/init.d/3035_viper
index f3b0e8418..0f5f5502a 100644
--- a/ROMFS/px4fmu_common/init.d/3035_viper
+++ b/ROMFS/px4fmu_common/init.d/3035_viper
@@ -2,7 +2,7 @@
 #
 # Viper
 #
-# Simon Wilks <sjwilks@gmail.com>
+# Simon Wilks <simon@px4.io>
 #
 
 sh /etc/init.d/rc.fw_defaults
diff --git a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
index 9a2150403..9bfd9d9ed 100644
--- a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
+++ b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
@@ -1,8 +1,8 @@
 #!nsh
 #
-# TBS Caipirinha Flying Wing
+# TBS Caipirinha
 #
-# Thomas Gubler <thomasgubler@gmail.com>
+# Thomas Gubler <thomas@px4.io>
 #
 
 sh /etc/init.d/rc.fw_defaults
@@ -22,10 +22,6 @@ then
 	param set FW_PR_I 0
 	param set FW_PR_IMAX 0.2
 	param set FW_PR_P 0.03
-	param set FW_P_LIM_MAX 45
-	param set FW_P_LIM_MIN -45
-	param set FW_P_RMAX_NEG 0
-	param set FW_P_RMAX_POS 0
 	param set FW_P_ROLLFF 0
 	param set FW_RR_FF 0.3
 	param set FW_RR_I 0
diff --git a/ROMFS/px4fmu_common/init.d/4001_quad_x b/ROMFS/px4fmu_common/init.d/4001_quad_x
index 06c54a41d..8fe8961c5 100644
--- a/ROMFS/px4fmu_common/init.d/4001_quad_x
+++ b/ROMFS/px4fmu_common/init.d/4001_quad_x
@@ -2,7 +2,7 @@
 #
 # Generic 10" Quad X geometry
 #
-# Lorenz Meier <lm@inf.ethz.ch>
+# Lorenz Meier <lorenz@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults
diff --git a/ROMFS/px4fmu_common/init.d/4008_ardrone b/ROMFS/px4fmu_common/init.d/4008_ardrone
index e6007db0e..0488e3928 100644
--- a/ROMFS/px4fmu_common/init.d/4008_ardrone
+++ b/ROMFS/px4fmu_common/init.d/4008_ardrone
@@ -3,9 +3,6 @@
 # ARDrone
 #
 
-echo "[init] 4008_ardrone: PX4FMU on PX4IOAR carrier board"
-
-# Just use the default multicopter settings.
 sh /etc/init.d/rc.mc_defaults
 
 #
diff --git a/ROMFS/px4fmu_common/init.d/4010_dji_f330 b/ROMFS/px4fmu_common/init.d/4010_dji_f330
index 282ab620d..f0cc05207 100644
--- a/ROMFS/px4fmu_common/init.d/4010_dji_f330
+++ b/ROMFS/px4fmu_common/init.d/4010_dji_f330
@@ -1,8 +1,8 @@
 #!nsh
 #
-# DJI Flame Wheel F330 Quadcopter
+# DJI Flame Wheel F330
 #
-# Anton Babushkin <anton.babushkin@me.com>
+# Anton Babushkin <anton@px4.io>
 #
 
 sh /etc/init.d/4001_quad_x
diff --git a/ROMFS/px4fmu_common/init.d/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/4011_dji_f450
index 517b4aa86..1ca716a6b 100644
--- a/ROMFS/px4fmu_common/init.d/4011_dji_f450
+++ b/ROMFS/px4fmu_common/init.d/4011_dji_f450
@@ -1,8 +1,8 @@
 #!nsh
 #
-# DJI Flame Wheel F450 Quadcopter
+# DJI Flame Wheel F450
 #
-# Lorenz Meier <lm@inf.ethz.ch>
+# Lorenz Meier <lorenz@px4.io>
 #
 
 sh /etc/init.d/4001_quad_x
diff --git a/ROMFS/px4fmu_common/init.d/4012_quad_x_can b/ROMFS/px4fmu_common/init.d/4012_quad_x_can
index 8c5a4fbf2..5c4a6497a 100644
--- a/ROMFS/px4fmu_common/init.d/4012_quad_x_can
+++ b/ROMFS/px4fmu_common/init.d/4012_quad_x_can
@@ -2,7 +2,7 @@
 #
 # F450-sized quadrotor with CAN
 #
-# Lorenz Meier <lm@inf.ethz.ch>
+# Pavel Kirienko <pavel@px4.io>
 #
 
 sh /etc/init.d/4001_quad_x
diff --git a/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb b/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
index 99ffd73a5..9fe310dde 100644
--- a/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
+++ b/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
@@ -3,7 +3,7 @@
 # Hobbyking Micro Integrated PCB Quadcopter
 # with SimonK ESC firmware and Mystery A1510 motors
 #
-# Thomas Gubler <thomasgubler@gmail.com>
+# Thomas Gubler <thomas@px4.io>
 #
 echo "HK Micro PCB Quad"
 
diff --git a/ROMFS/px4fmu_common/init.d/5001_quad_+ b/ROMFS/px4fmu_common/init.d/5001_quad_+
index 1fb25e5d8..5512aa738 100644
--- a/ROMFS/px4fmu_common/init.d/5001_quad_+
+++ b/ROMFS/px4fmu_common/init.d/5001_quad_+
@@ -2,7 +2,7 @@
 #
 # Generic 10" Quad + geometry
 #
-# Anton Babushkin <anton.babushkin@me.com>
+# Anton Babushkin <anton@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults
diff --git a/ROMFS/px4fmu_common/init.d/6001_hexa_x b/ROMFS/px4fmu_common/init.d/6001_hexa_x
index 34fc6523f..1043ad8ad 100644
--- a/ROMFS/px4fmu_common/init.d/6001_hexa_x
+++ b/ROMFS/px4fmu_common/init.d/6001_hexa_x
@@ -2,12 +2,12 @@
 #
 # Generic 10" Hexa X geometry
 #
-# Anton Babushkin <anton.babushkin@me.com>
+# Anton Babushkin <anton@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults
 
 set MIXER FMU_hexa_x
 
-# We only can run one channel group with one rate, so set all 8 channels
+# Need to set all 8 channels
 set PWM_OUTPUTS 12345678
diff --git a/ROMFS/px4fmu_common/init.d/7001_hexa_+ b/ROMFS/px4fmu_common/init.d/7001_hexa_+
index 235e376a6..84ab88883 100644
--- a/ROMFS/px4fmu_common/init.d/7001_hexa_+
+++ b/ROMFS/px4fmu_common/init.d/7001_hexa_+
@@ -2,12 +2,12 @@
 #
 # Generic 10" Hexa + geometry
 #
-# Anton Babushkin <anton.babushkin@me.com>
+# Anton Babushkin <anton@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults
 
 set MIXER FMU_hexa_+
 
-# We only can run one channel group with one rate, so set all 8 channels
+# Need to set all 8 channels
 set PWM_OUTPUTS 12345678
diff --git a/ROMFS/px4fmu_common/init.d/8001_octo_x b/ROMFS/px4fmu_common/init.d/8001_octo_x
index 769217dc7..74e304cd9 100644
--- a/ROMFS/px4fmu_common/init.d/8001_octo_x
+++ b/ROMFS/px4fmu_common/init.d/8001_octo_x
@@ -2,7 +2,7 @@
 #
 # Generic 10" Octo X geometry
 #
-# Anton Babushkin <anton.babushkin@me.com>
+# Anton Babushkin <anton@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults
diff --git a/ROMFS/px4fmu_common/init.d/9001_octo_+ b/ROMFS/px4fmu_common/init.d/9001_octo_+
index 28b074a54..f7c06c6c8 100644
--- a/ROMFS/px4fmu_common/init.d/9001_octo_+
+++ b/ROMFS/px4fmu_common/init.d/9001_octo_+
@@ -2,7 +2,7 @@
 #
 # Generic 10" Octo + geometry
 #
-# Anton Babushkin <anton.babushkin@me.com>
+# Anton Babushkin <anton@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults
diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart
index 78778d806..496a52c5f 100644
--- a/ROMFS/px4fmu_common/init.d/rc.autostart
+++ b/ROMFS/px4fmu_common/init.d/rc.autostart
@@ -1,5 +1,4 @@
 #
-# Check if auto-setup from one of the standard scripts is wanted
 # SYS_AUTOSTART = 0 means no autostart (default)
 #
 # AUTOSTART PARTITION:
@@ -18,7 +17,7 @@
 # 12000	..	12999		Octo Cox
 
 #
-# Simulation setups
+# Simulation
 #
 
 if param compare SYS_AUTOSTART 901
@@ -53,7 +52,7 @@ then
 fi
 
 #
-# Standard plane
+# Plane
 #
 
 if param compare SYS_AUTOSTART 2100 100
diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 739df7ac0..fbac50cf7 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -54,7 +54,6 @@ then
 	fi
 fi
 
-# Start airspeed sensors
 if meas_airspeed start
 then
 	echo "[init] Using MEAS airspeed sensor"
@@ -68,16 +67,12 @@ else
 	fi
 fi
 
-# Check for flow sensor
 if px4flow start
 then
 fi
 
 #
-# Start the sensor collection task.
-# IMPORTANT: this also loads param offsets
-# ALWAYS start this task before the
-# preflight_check.
+# Start sensors -> preflight_check
 #
 if sensors start
 then
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index ea04ece34..f9c822635 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -137,9 +137,7 @@ then
 	#
 	if param compare SYS_AUTOCONFIG 1
 	then
-		# We can't be sure the defaults haven't changed, so
-		# if someone requests a re-configuration, we do it
-		# cleanly from scratch (except autostart / autoconfig)
+		# Wipe out params
 		param reset_nostart
 		set DO_AUTOCONFIG yes
 	else
@@ -202,12 +200,10 @@ then
 
 		if px4io checkcrc $IO_FILE
 		then
-			echo "[init] PX4IO CRC OK"
 			echo "PX4IO CRC OK" >> $LOG_FILE
 
 			set IO_PRESENT yes
 		else
-			echo "[init] Trying to update"
 			echo "PX4IO Trying to update" >> $LOG_FILE
 
 			tone_alarm MLL32CP8MB
@@ -217,18 +213,15 @@ then
 				usleep 500000
 				if px4io checkcrc $IO_FILE
 				then
-					echo "[init] PX4IO CRC OK, update successful"
 					echo "PX4IO CRC OK after updating" >> $LOG_FILE
 					tone_alarm MLL8CDE
 
 					set IO_PRESENT yes
 				else
-					echo "[init] ERROR: PX4IO update failed"
 					echo "PX4IO update failed" >> $LOG_FILE
 					tone_alarm $TUNE_OUT_ERROR
 				fi
 			else
-				echo "[init] ERROR: PX4IO update failed"
 				echo "PX4IO update failed" >> $LOG_FILE
 				tone_alarm $TUNE_OUT_ERROR
 			fi
@@ -281,16 +274,12 @@ then
 		fi
 	fi
 
-	#
-	# Start the datamanager (and do not abort boot if it fails)
-	#
+	# waypoint storage
 	if dataman start
 	then
 	fi
 
-	#
-	# Start the Commander (needs to be this early for in-air-restarts)
-	#
+	# Needs to be this early for in-air-restarts
 	commander start
 
 	#
@@ -424,9 +413,6 @@ then
 		fi
 	fi
 
-	#
-	# MAVLink
-	#
 	if [ $MAVLINK_FLAGS == default ]
 	then
 		# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
@@ -454,10 +440,6 @@ then
 	# Sensors, Logging, GPS
 	#
 	sh /etc/init.d/rc.sensors
-
-	#
-	# Start logging in all modes, including HIL
-	#
 	sh /etc/init.d/rc.logging
 
 	if [ $GPS == yes ]
diff --git a/src/modules/systemlib/mcu_version.c b/src/modules/systemlib/mcu_version.c
new file mode 100644
index 000000000..4bcf95784
--- /dev/null
+++ b/src/modules/systemlib/mcu_version.c
@@ -0,0 +1,109 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 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 mcu_version.c
+ * 
+ * Read out the microcontroller version from the board
+ *
+ * @author Lorenz Meier <lorenz@px4.io>
+ *
+ */
+
+#include "mcu_version.h"
+
+#include <nuttx/config.h>
+
+#ifdef CONFIG_ARCH_CHIP_STM32
+#include <up_arch.h>
+
+#define DBGMCU_IDCODE	0xE0042000
+
+#define STM32F40x_41x	0x413
+#define STM32F42x_43x	0x419
+
+#define REVID_MASK	0xFFFF0000
+#define DEVID_MASK	0xFFF
+
+#endif
+
+
+
+int mcu_version(char* rev, char** revstr)
+{
+#ifdef CONFIG_ARCH_CHIP_STM32
+	uint32_t abc = getreg32(DBGMCU_IDCODE);
+
+	int32_t chip_version = abc & DEVID_MASK;
+	enum MCU_REV revid = (abc & REVID_MASK) >> 16;
+
+	switch (chip_version) {
+	case STM32F40x_41x:
+		*revstr = "STM32F40x";
+		break;
+	case STM32F42x_43x:
+		*revstr = "STM32F42x";
+		break;
+	default:
+		*revstr = "STM32F???";
+		break;
+	}
+
+	switch (revid) {
+
+		case MCU_REV_STM32F4_REV_A:
+			*rev = 'A';
+			break;
+		case MCU_REV_STM32F4_REV_Z:
+			*rev = 'Z';
+			break;
+		case MCU_REV_STM32F4_REV_Y:
+			*rev = 'Y';
+			break;
+		case MCU_REV_STM32F4_REV_1:
+			*rev = '1';
+			break;
+		case MCU_REV_STM32F4_REV_3:
+			*rev = '3';
+			break;
+		default:
+			*rev = '?';
+			revid = -1;
+			break;
+	}
+
+	return revid;
+#else
+	return -1;
+#endif
+}
diff --git a/src/modules/systemlib/mcu_version.h b/src/modules/systemlib/mcu_version.h
new file mode 100644
index 000000000..1b3d0aba9
--- /dev/null
+++ b/src/modules/systemlib/mcu_version.h
@@ -0,0 +1,52 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+/* magic numbers from reference manual */
+enum MCU_REV {
+	MCU_REV_STM32F4_REV_A = 0x1000,
+	MCU_REV_STM32F4_REV_Z = 0x1001,
+	MCU_REV_STM32F4_REV_Y = 0x1003,
+	MCU_REV_STM32F4_REV_1 = 0x1007,
+	MCU_REV_STM32F4_REV_3 = 0x2001
+};
+
+/**
+ * Reports the microcontroller version of the main CPU.
+ *
+ * @param rev The silicon revision character
+ * @param revstr The full chip name string
+ * @return The silicon revision / version number as integer
+ */
+__EXPORT int mcu_version(char* rev, char** revstr);
diff --git a/src/modules/systemlib/module.mk b/src/modules/systemlib/module.mk
index 5c4f2ec41..fe8b7e75a 100644
--- a/src/modules/systemlib/module.mk
+++ b/src/modules/systemlib/module.mk
@@ -53,6 +53,7 @@ SRCS		 = err.c \
 		   otp.c \
 		   board_serial.c \
 		   pwm_limit/pwm_limit.c \
-		   circuit_breaker.c
+		   circuit_breaker.c \
+		   mcu_version.c
 
 MAXOPTIMIZATION	 = -Os
diff --git a/src/systemcmds/ver/ver.c b/src/systemcmds/ver/ver.c
index b11b593c3..62a7a5b92 100644
--- a/src/systemcmds/ver/ver.c
+++ b/src/systemcmds/ver/ver.c
@@ -44,6 +44,7 @@
 #include <string.h>
 #include <version/version.h>
 #include <systemlib/err.h>
+#include <systemlib/mcu_version.h>
 
 // string constants for version commands
 static const char sz_ver_hw_str[] 	= "hw";
@@ -52,32 +53,8 @@ static const char sz_ver_git_str[] 	= "git";
 static const char sz_ver_bdate_str[] = "bdate";
 static const char sz_ver_gcc_str[] 	= "gcc";
 static const char sz_ver_all_str[] 	= "all";
-
-#ifdef CONFIG_ARCH_CHIP_STM32
-#include <up_arch.h>
-
 static const char mcu_ver_str[]		= "mcu";
 
-#define DBGMCU_IDCODE	0xE0042000
-
-#define STM32F40x_41x	0x413
-#define STM32F42x_43x	0x419
-
-#define REVID_MASK	0xFFFF0000
-#define DEVID_MASK	0xFFF
-
-/* magic numbers from reference manual */
-enum STM32F4_REV {
-	STM32F4_REV_A = 0x1000,
-	STM32F4_REV_Z = 0x1001,
-	STM32F4_REV_Y = 0x1003,
-	STM32F4_REV_1 = 0x1007,
-	STM32F4_REV_3 = 0x2001
-};
-#else
-#error stm32
-#endif
-
 static void usage(const char *reason)
 {
 	if (reason != NULL) {
@@ -132,63 +109,28 @@ int ver_main(int argc, char *argv[])
 				printf("GCC toolchain: %s\n", __VERSION__);
 				ret = 0;
 
-#ifdef CONFIG_ARCH_CHIP_STM32
+
 			} else if (!strncmp(argv[1], mcu_ver_str, sizeof(mcu_ver_str))) {
-				uint32_t abc = getreg32(DBGMCU_IDCODE);
-
-				uint32_t chip_version = abc & DEVID_MASK;
-				enum STM32F4_REV revid = (abc & REVID_MASK) >> 16;
-
-				printf("CHIP TYPE: ");
-
-				switch (revid) {
-				case STM32F40x_41x:
-					printf("STM32F40x");
-					break;
-				case STM32F42x_43x:
-					printf("STM32F42x");
-					break;
-				default:
-					printf("STM32F???");
-					break;
-				}
 
 				char rev;
+				char* revstr;
 
-				switch (chip_version) {
-
-					case STM32F4_REV_A:
-						rev = 'A';
-						break;
-					case STM32F4_REV_Z:
-						rev = 'Z';
-						break;
-					case STM32F4_REV_Y:
-						rev = 'Y';
-						break;
-					case STM32F4_REV_1:
-						rev = '1';
-						break;
-					case STM32F4_REV_3:
-						rev = '3';
-						break;
-					default:
-						rev = '?';
-						break;
-				}
+				int chip_version = mcu_version(&rev, &revstr);
+
+				if (chip_version < 0) {
+					printf("UNKNOWN MCU");
+					ret = 1;
 
-				printf("\nHW REV: %c\n", rev);
+				} else {
+					printf("MCU: %s, rev. %c\n", revstr, rev);
 
-				if (rev < STM32F4_REV_3) {
-					printf("\n\nWARNING   WARNING   WARNING!\n"
-						"Revision %c has a silicon errata\n"
-						"on USB connectivity combined with\n"
-						"flash bank #2. This device can only\n"
-						"utilize a maximum of 1MB flash safely!\n"
-						"http://px4.io/help/errata\n", rev);
+					if (chip_version < MCU_REV_STM32F4_REV_3) {
+						printf("\n\nWARNING   WARNING   WARNING!\n"
+							"Revision %c has a silicon errata\n"
+							"This device can only utilize a maximum of 1MB flash safely!\n"
+							"http://px4.io/help/errata\n", rev);
+					}
 				}
-				ret = 0;
-#endif
 
 			} else {
 				errx(1, "unknown command.\n");