Merge branch 'master' of github.com:PX4/Firmware into fmuv2_bringup

17 files changed, 855 insertions, 22 deletions

diff --git a/Documentation/commander_app.odg b/Documentation/commander_app.odg
deleted file mode 100644
index 17459f7cf..000000000
--- a/Documentation/commander_app.odg
+++ /dev/null
diff --git a/Documentation/commander_app.png b/Documentation/commander_app.png
deleted file mode 100644
index 6503817da..000000000
--- a/Documentation/commander_app.png
+++ /dev/null
diff --git a/Documentation/position_control.odg b/Documentation/position_control.odg
deleted file mode 100644
index 5fb002c5e..000000000
--- a/Documentation/position_control.odg
+++ /dev/null
diff --git a/Documentation/position_control.png b/Documentation/position_control.png
deleted file mode 100644
index d8d1a8b0c..000000000
--- a/Documentation/position_control.png
+++ /dev/null
diff --git a/Documentation/position_estimator_app.odg b/Documentation/position_estimator_app.odg
deleted file mode 100644
index a6fc67373..000000000
--- a/Documentation/position_estimator_app.odg
+++ /dev/null
diff --git a/Documentation/position_estimator_app.pdf b/Documentation/position_estimator_app.pdf
deleted file mode 100644
index bc07209ee..000000000
--- a/Documentation/position_estimator_app.pdf
+++ /dev/null
diff --git a/Documentation/position_estimator_app.png b/Documentation/position_estimator_app.png
deleted file mode 100644
index 377549f63..000000000
--- a/Documentation/position_estimator_app.png
+++ /dev/null
diff --git a/Documentation/state_machine.odg b/Documentation/state_machine.odg
deleted file mode 100644
index 2f55a13dd..000000000
--- a/Documentation/state_machine.odg
+++ /dev/null
diff --git a/Documentation/state_machine.png b/Documentation/state_machine.png
deleted file mode 100644
index 4daeddfc9..000000000
--- a/Documentation/state_machine.png
+++ /dev/null
diff --git a/Tools/logconv.m b/Tools/logconv.m
new file mode 100644
index 000000000..f7c291b48
--- /dev/null
+++ b/Tools/logconv.m
@@ -0,0 +1,534 @@
+% This Matlab Script can be used to import the binary logged values of the

+% PX4FMU into data that can be plotted and analyzed.

+

+%% ************************************************************************

+% PX4LOG_PLOTSCRIPT: Main function

+% ************************************************************************

+function PX4Log_Plotscript

+

+% Clear everything

+clc

+clear all

+close all

+

+% ************************************************************************

+% SETTINGS

+% ************************************************************************

+

+% Set the path to your sysvector.bin file here

+filePath = 'log_second_flight.bin';

+

+% Set the minimum and maximum times to plot here [in seconds]

+mintime=0;        %The minimum time/timestamp to display, as set by the user [0 for first element / start]

+maxtime=0;        %The maximum time/timestamp to display, as set by the user [0 for last element / end]

+

+%Determine which data to plot. Not completely implemented yet.

+bDisplayGPS=true;

+

+%conversion factors

+fconv_gpsalt=1; %[mm] to [m]

+fconv_gpslatlong=1; %[gps_raw_position_unit] to [deg]

+fconv_timestamp=1E-6; % [microseconds] to [seconds]

+

+% ************************************************************************

+% Import the PX4 logs

+% ************************************************************************

+ImportPX4LogData();

+

+%Translate min and max plot times to indices

+time=double(sysvector.TIME_StartTime) .*fconv_timestamp;

+mintime_log=time(1);        %The minimum time/timestamp found in the log

+maxtime_log=time(end);      %The maximum time/timestamp found in the log

+CurTime=mintime_log;        %The current time at which to draw the aircraft position

+

+[imintime,imaxtime]=FindMinMaxTimeIndices();

+

+% ************************************************************************

+% PLOT & GUI SETUP

+% ************************************************************************

+NrFigures=5;

+NrAxes=10;

+h.figures(1:NrFigures)=0.0;  % Temporary initialization of figure handle array - these are numbered consecutively

+h.axes(1:NrAxes)=0.0;        % Temporary initialization of axes handle array - these are numbered consecutively

+h.pathpoints=[];             % Temporary initiliazation of path points

+

+% Setup the GUI to control the plots

+InitControlGUI();

+% Setup the plotting-GUI (figures, axes) itself.

+InitPlotGUI();

+

+% ************************************************************************

+% DRAW EVERYTHING

+% ************************************************************************

+DrawRawData();

+DrawCurrentAircraftState();

+

+%% ************************************************************************

+%  *** END OF MAIN SCRIPT ***

+%  NESTED FUNCTION DEFINTIONS FROM HERE ON

+%  ************************************************************************

+

+

+%% ************************************************************************

+%  IMPORTPX4LOGDATA (nested function)

+%  ************************************************************************

+%  Attention:  This is the import routine for firmware from ca. 03/2013.

+%              Other firmware versions might require different import 

+%              routines.

+

+%% ************************************************************************

+%  IMPORTPX4LOGDATA (nested function)

+%  ************************************************************************

+%  Attention:  This is the import routine for firmware from ca. 03/2013.

+%              Other firmware versions might require different import 

+%              routines.

+

+function ImportPX4LogData()

+

+    % ************************************************************************

+    % RETRIEVE SYSTEM VECTOR

+    % *************************************************************************

+    % //All measurements in NED frame

+    

+    % Convert to CSV

+    %arg1 = 'log-fx61-20130721-2.bin';

+    arg1 = filePath;

+    delim = ',';

+    time_field = 'TIME';

+    data_file = 'data.csv';

+    csv_null = '';

+    

+    if not(exist(data_file, 'file'))

+        s = system( sprintf('python sdlog2_dump.py "%s" -f "%s" -t"%s" -d"%s" -n"%s"', arg1, data_file, time_field, delim, csv_null) );

+    end

+

+    if exist(data_file, 'file')

+

+        %data = csvread(data_file);

+        sysvector = tdfread(data_file, ',');

+

+        % shot the flight time

+        time_us = sysvector.TIME_StartTime(end) - sysvector.TIME_StartTime(1);

+        time_s = uint64(time_us*1e-6);

+        time_m = uint64(time_s/60);

+        

+        disp([sprintf('Flight log duration: %d:%d (minutes:seconds)', time_m, time_s)]);

+

+        disp(['logfile conversion finished.' char(10)]);

+    else

+        disp(['file: ' data_file ' does not exist' char(10)]);

+    end

+end

+

+%% ************************************************************************

+%  INITCONTROLGUI (nested function)

+%  ************************************************************************

+%Setup central control GUI components to control current time where data is shown

+function InitControlGUI()

+    %**********************************************************************

+    % GUI size definitions

+    %**********************************************************************

+    dxy=5; %margins

+    %Panel: Plotctrl

+    dlabels=120;

+    dsliders=200;

+    dedits=80;

+    hslider=20;

+        

+    hpanel1=40; %panel1

+    hpanel2=220;%panel2

+    hpanel3=3*hslider+4*dxy+3*dxy;%panel3.

+    

+    width=dlabels+dsliders+dedits+4*dxy+2*dxy;  %figure width

+    height=hpanel1+hpanel2+hpanel3+4*dxy;       %figure height

+        

+    %**********************************************************************

+    % Create GUI

+    %**********************************************************************

+    h.figures(1)=figure('Units','pixels','position',[200 200 width height],'Name','Control GUI');

+    h.guistatepanel=uipanel('Title','Current GUI state','Units','pixels','Position',[dxy dxy width-2*dxy hpanel1],'parent',h.figures(1));

+    h.aircraftstatepanel=uipanel('Title','Current aircraft state','Units','pixels','Position',[dxy hpanel1+2*dxy width-2*dxy hpanel2],'parent',h.figures(1));

+    h.plotctrlpanel=uipanel('Title','Plot Control','Units','pixels','Position',[dxy hpanel1+hpanel2+3*dxy width-2*dxy hpanel3],'parent',h.figures(1));

+    

+    %%Control GUI-elements

+    %Slider: Current time

+    h.labels.CurTime=uicontrol(gcf,'style','text','Position',[dxy dxy dlabels hslider],'String','Current time t[s]:','parent',h.plotctrlpanel,'HorizontalAlignment','left');

+    h.sliders.CurTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels dxy dsliders hslider],...

+        'min',mintime,'max',maxtime,'value',mintime,'callback',@curtime_callback,'parent',h.plotctrlpanel);

+    temp=get(h.sliders.CurTime,'Max')-get(h.sliders.CurTime,'Min');

+    set(h.sliders.CurTime,'SliderStep',[1.0/temp 5.0/temp]);

+    h.edits.CurTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders dxy dedits hslider],'String',get(h.sliders.CurTime,'value'),...

+        'BackgroundColor','white','callback',@curtime_callback,'parent',h.plotctrlpanel);

+

+    %Slider: MaxTime

+    h.labels.MaxTime=uicontrol(gcf,'style','text','position',[dxy 2*dxy+hslider dlabels hslider],'String','Max. time t[s] to display:','parent',h.plotctrlpanel,'HorizontalAlignment','left');

+    h.sliders.MaxTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 2*dxy+hslider dsliders hslider],...

+        'min',mintime_log,'max',maxtime_log,'value',maxtime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel);

+    h.edits.MaxTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 2*dxy+hslider dedits hslider],'String',get(h.sliders.MaxTime,'value'),...

+        'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel);

+    

+    %Slider: MinTime

+    h.labels.MinTime=uicontrol(gcf,'style','text','position',[dxy 3*dxy+2*hslider dlabels hslider],'String','Min. time t[s] to dispay :','parent',h.plotctrlpanel,'HorizontalAlignment','left');

+    h.sliders.MinTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 3*dxy+2*hslider dsliders hslider],...

+        'min',mintime_log,'max',maxtime_log,'value',mintime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel);

+    h.edits.MinTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 3*dxy+2*hslider dedits hslider],'String',get(h.sliders.MinTime,'value'),...

+        'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel);

+

+    %%Current data/state GUI-elements (Multiline-edit-box)

+    h.edits.AircraftState=uicontrol(gcf,'style','edit','Units','normalized','position',[.02 .02 0.96 0.96],'Min',1,'Max',10,'String','This shows the current aircraft state',...

+                                    'HorizontalAlignment','left','parent',h.aircraftstatepanel);

+    

+    h.labels.GUIState=uicontrol(gcf,'style','text','Units','pixels','position',[dxy dxy width-4*dxy hslider],'String','Current state of this GUI',...

+                                'HorizontalAlignment','left','parent',h.guistatepanel);

+    

+end

+

+%% ************************************************************************

+%  INITPLOTGUI (nested function)

+%  ************************************************************************

+function InitPlotGUI()

+    

+    % Setup handles to lines and text

+    h.markertext=[];

+    templinehandle=0.0;%line([0 1],[0 5]);   % Just a temporary handle to init array

+    h.markerline(1:NrAxes)=templinehandle;   % the actual handle-array to the lines  - these are numbered consecutively

+    h.markerline(1:NrAxes)=0.0;

+        

+    % Setup all other figures and axes for plotting

+    %  PLOT WINDOW 1: GPS POSITION

+    h.figures(2)=figure('units','normalized','Toolbar','figure', 'Name', 'GPS Position');

+    h.axes(1)=axes();

+    set(h.axes(1),'Parent',h.figures(2));

+

+    %  PLOT WINDOW 2: IMU, baro altitude

+    h.figures(3)=figure('Name', 'IMU / Baro Altitude');

+    h.axes(2)=subplot(4,1,1);

+    h.axes(3)=subplot(4,1,2);

+    h.axes(4)=subplot(4,1,3);

+    h.axes(5)=subplot(4,1,4);

+    set(h.axes(2:5),'Parent',h.figures(3));

+    

+    %  PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,...

+    h.figures(4)=figure('Name', 'Attitude Estimate / Actuators / Airspeeds');

+    h.axes(6)=subplot(4,1,1);

+    h.axes(7)=subplot(4,1,2);

+    h.axes(8)=subplot(4,1,3);

+    h.axes(9)=subplot(4,1,4);

+    set(h.axes(6:9),'Parent',h.figures(4));

+    

+    %  PLOT WINDOW 4: LOG STATS

+    h.figures(5) = figure('Name', 'Log Statistics');

+    h.axes(10)=subplot(1,1,1);

+    set(h.axes(10:10),'Parent',h.figures(5));

+    

+end

+

+%% ************************************************************************

+%  DRAWRAWDATA (nested function)

+%  ************************************************************************

+%Draws the raw data from the sysvector, but does not add any

+%marker-lines or so

+function DrawRawData() 

+    % ************************************************************************

+    %  PLOT WINDOW 1: GPS POSITION & GUI

+    %  ************************************************************************

+    figure(h.figures(2));

+    % Only plot GPS data if available

+    if (sum(double(sysvector.GPS_Lat(imintime:imaxtime)))>0) && (bDisplayGPS)

+        %Draw data

+        plot3(h.axes(1),double(sysvector.GPS_Lat(imintime:imaxtime))*fconv_gpslatlong, ...

+                        double(sysvector.GPS_Lon(imintime:imaxtime))*fconv_gpslatlong, ...

+                        double(sysvector.GPS_Alt(imintime:imaxtime))*fconv_gpsalt,'r.');

+        title(h.axes(1),'GPS Position Data(if available)');

+        xlabel(h.axes(1),'Latitude [deg]');

+        ylabel(h.axes(1),'Longitude [deg]');

+        zlabel(h.axes(1),'Altitude above MSL [m]');

+        grid on

+        

+        %Reset path

+        h.pathpoints=0;

+    end

+

+    % ************************************************************************

+    %  PLOT WINDOW 2: IMU, baro altitude

+    %  ************************************************************************

+    figure(h.figures(3));

+    plot(h.axes(2),time(imintime:imaxtime),[sysvector.IMU_MagX(imintime:imaxtime), sysvector.IMU_MagY(imintime:imaxtime), sysvector.IMU_MagZ(imintime:imaxtime)]);

+    title(h.axes(2),'Magnetometers [Gauss]');

+    legend(h.axes(2),'x','y','z');

+    plot(h.axes(3),time(imintime:imaxtime),[sysvector.IMU_AccX(imintime:imaxtime), sysvector.IMU_AccY(imintime:imaxtime), sysvector.IMU_AccZ(imintime:imaxtime)]);

+    title(h.axes(3),'Accelerometers [m/s²]');

+    legend(h.axes(3),'x','y','z');

+    plot(h.axes(4),time(imintime:imaxtime),[sysvector.IMU_GyroX(imintime:imaxtime), sysvector.IMU_GyroY(imintime:imaxtime), sysvector.IMU_GyroZ(imintime:imaxtime)]);

+    title(h.axes(4),'Gyroscopes [rad/s]');

+    legend(h.axes(4),'x','y','z');

+    plot(h.axes(5),time(imintime:imaxtime),sysvector.SENS_BaroAlt(imintime:imaxtime),'color','blue');

+    if(bDisplayGPS)

+        hold on;

+        plot(h.axes(5),time(imintime:imaxtime),double(sysvector.GPS_Alt(imintime:imaxtime)).*fconv_gpsalt,'color','red');

+        hold off

+        legend('Barometric Altitude [m]','GPS Altitude [m]');

+    else

+        legend('Barometric Altitude [m]');

+    end

+    title(h.axes(5),'Altitude above MSL [m]');

+

+    % ************************************************************************

+    %  PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,...

+    % ************************************************************************

+    figure(h.figures(4));

+    %Attitude Estimate

+    plot(h.axes(6),time(imintime:imaxtime), [sysvector.ATT_Roll(imintime:imaxtime), sysvector.ATT_Pitch(imintime:imaxtime), sysvector.ATT_Yaw(imintime:imaxtime)] .*180./3.14159);

+    title(h.axes(6),'Estimated attitude [deg]');

+    legend(h.axes(6),'roll','pitch','yaw');

+    %Actuator Controls

+    plot(h.axes(7),time(imintime:imaxtime), [sysvector.ATTC_Roll(imintime:imaxtime), sysvector.ATTC_Pitch(imintime:imaxtime), sysvector.ATTC_Yaw(imintime:imaxtime), sysvector.ATTC_Thrust(imintime:imaxtime)]);

+    title(h.axes(7),'Actuator control [-]');

+    legend(h.axes(7),'ATT CTRL Roll [-1..+1]','ATT CTRL Pitch [-1..+1]','ATT CTRL Yaw [-1..+1]','ATT CTRL Thrust [0..+1]');

+    %Actuator Controls

+    plot(h.axes(8),time(imintime:imaxtime), [sysvector.OUT0_Out0(imintime:imaxtime), sysvector.OUT0_Out1(imintime:imaxtime), sysvector.OUT0_Out2(imintime:imaxtime), sysvector.OUT0_Out3(imintime:imaxtime), sysvector.OUT0_Out4(imintime:imaxtime), sysvector.OUT0_Out5(imintime:imaxtime), sysvector.OUT0_Out6(imintime:imaxtime), sysvector.OUT0_Out7(imintime:imaxtime)]);

+    title(h.axes(8),'Actuator PWM (raw-)outputs [µs]');

+    legend(h.axes(8),'CH1','CH2','CH3','CH4','CH5','CH6','CH7','CH8');

+    set(h.axes(8), 'YLim',[800 2200]);

+    %Airspeeds

+    plot(h.axes(9),time(imintime:imaxtime), sysvector.AIRS_IndSpeed(imintime:imaxtime));

+    hold on

+    plot(h.axes(9),time(imintime:imaxtime), sysvector.AIRS_TrueSpeed(imintime:imaxtime));

+    hold off

+    %add GPS total airspeed here

+    title(h.axes(9),'Airspeed [m/s]');

+    legend(h.axes(9),'Indicated Airspeed (IAS)','True Airspeed (TAS)','GPS Airspeed');

+    %calculate time differences and plot them

+    intervals = zeros(0,imaxtime - imintime);

+    for k = imintime+1:imaxtime

+        intervals(k) = time(k) - time(k-1);

+    end

+    plot(h.axes(10), time(imintime:imaxtime), intervals);

+

+    %Set same timescale for all plots

+    for i=2:NrAxes

+        set(h.axes(i),'XLim',[mintime maxtime]);

+    end

+    

+    set(h.labels.GUIState,'String','OK','BackgroundColor',[240/255 240/255 240/255]);

+end

+

+%% ************************************************************************

+%  DRAWCURRENTAIRCRAFTSTATE(nested function)

+%  ************************************************************************

+function DrawCurrentAircraftState()

+    %find current data index        

+    i=find(time>=CurTime,1,'first');

+

+    %**********************************************************************

+    % Current aircraft state label update

+    %**********************************************************************

+    acstate{1,:}=[sprintf('%s \t\t','GPS Pos:'),'[lat=',num2str(double(sysvector.GPS_Lat(i))*fconv_gpslatlong),'°, ',...

+                        'lon=',num2str(double(sysvector.GPS_Lon(i))*fconv_gpslatlong),'°, ',...

+                        'alt=',num2str(double(sysvector.GPS_Alt(i))*fconv_gpsalt),'m]'];

+    acstate{2,:}=[sprintf('%s \t\t','Mags[gauss]'),'[x=',num2str(sysvector.IMU_MagX(i)),...

+                               ', y=',num2str(sysvector.IMU_MagY(i)),...

+                               ', z=',num2str(sysvector.IMU_MagZ(i)),']'];

+    acstate{3,:}=[sprintf('%s \t\t','Accels[m/s²]'),'[x=',num2str(sysvector.IMU_AccX(i)),...

+                               ', y=',num2str(sysvector.IMU_AccY(i)),...

+                               ', z=',num2str(sysvector.IMU_AccZ(i)),']'];

+    acstate{4,:}=[sprintf('%s \t\t','Gyros[rad/s]'),'[x=',num2str(sysvector.IMU_GyroX(i)),...

+                               ', y=',num2str(sysvector.IMU_GyroY(i)),...

+                               ', z=',num2str(sysvector.IMU_GyroZ(i)),']'];

+    acstate{5,:}=[sprintf('%s \t\t','Altitude[m]'),'[Barometric: ',num2str(sysvector.SENS_BaroAlt(i)),'m, GPS: ',num2str(double(sysvector.GPS_Alt(i))*fconv_gpsalt),'m]'];

+    acstate{6,:}=[sprintf('%s \t','Est. attitude[deg]:'),'[Roll=',num2str(sysvector.ATT_Roll(i).*180./3.14159),...

+                               ', Pitch=',num2str(sysvector.ATT_Pitch(i).*180./3.14159),...

+                               ', Yaw=',num2str(sysvector.ATT_Yaw(i).*180./3.14159),']'];

+    acstate{7,:}=sprintf('%s \t[','Actuator Ctrls [-]:');

+    %for j=1:4

+    acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Roll(i)),','];

+    acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Pitch(i)),','];

+    acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Yaw(i)),','];

+    acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Thrust(i)),','];

+    %end

+    acstate{7,:}=[acstate{7,:},']'];

+    acstate{8,:}=sprintf('%s \t[','Actuator Outputs [PWM/µs]:');

+    %for j=1:8

+    acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out0(i)),','];

+    acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out1(i)),','];

+    acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out2(i)),','];

+    acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out3(i)),','];

+    acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out4(i)),','];

+    acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out5(i)),','];

+    acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out6(i)),','];

+    acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out7(i)),','];

+    %end

+    acstate{8,:}=[acstate{8,:},']'];

+    acstate{9,:}=[sprintf('%s \t','Airspeed[m/s]:'),'[IAS: ',num2str(sysvector.AIRS_IndSpeed(i)),', TAS: ',num2str(sysvector.AIRS_TrueSpeed(i)),']'];

+    

+    set(h.edits.AircraftState,'String',acstate);

+    

+    %**********************************************************************

+    % GPS Plot Update

+    %**********************************************************************

+    %Plot traveled path, and  and time.

+    figure(h.figures(2));

+    hold on;

+    if(CurTime>mintime+1) %the +1 is only a small bugfix

+        h.pathline=plot3(h.axes(1),double(sysvector.GPS_Lat(imintime:i))*fconv_gpslatlong, ...

+                                    double(sysvector.GPS_Lon(imintime:i))*fconv_gpslatlong, ...

+                                    double(sysvector.GPS_Alt(imintime:i))*fconv_gpsalt,'b','LineWidth',2); 

+    end;

+    hold off

+    %Plot current position

+    newpoint=[double(sysvector.GPS_Lat(i))*fconv_gpslatlong double(sysvector.GPS_Lat(i))*fconv_gpslatlong double(sysvector.GPS_Alt(i))*fconv_gpsalt];

+    if(numel(h.pathpoints)<=3) %empty path

+        h.pathpoints(1,1:3)=newpoint;

+    else %Not empty, append new point 

+        h.pathpoints(size(h.pathpoints,1)+1,:)=newpoint;

+    end

+    axes(h.axes(1));    

+    line(h.pathpoints(:,1),h.pathpoints(:,2),h.pathpoints(:,3),'LineStyle','none','Marker','.','MarkerEdge','black','MarkerSize',20);

+    

+    

+    % Plot current time (small label next to current gps position) 

+    textdesc=strcat('  t=',num2str(time(i)),'s');

+    if(isvalidhandle(h.markertext))

+            delete(h.markertext); %delete old text

+    end 

+    h.markertext=text(double(sysvector.GPS_Lat(i))*fconv_gpslatlong,double(sysvector.GPS_Lon(i))*fconv_gpslatlong,...

+                        double(sysvector.GPS_Alt(i))*fconv_gpsalt,textdesc);

+    set(h.edits.CurTime,'String',CurTime);

+        

+    %**********************************************************************

+    % Plot the lines showing the current time in the 2-d plots

+    %**********************************************************************

+    for i=2:NrAxes

+        if(isvalidhandle(h.markerline(i))) delete(h.markerline(i)); end

+        ylims=get(h.axes(i),'YLim');

+        h.markerline(i)=line([CurTime CurTime] ,get(h.axes(i),'YLim'),'Color','black');

+        set(h.markerline(i),'parent',h.axes(i));

+    end

+    

+    set(h.labels.GUIState,'String','OK','BackgroundColor',[240/255 240/255 240/255]);

+end

+

+%% ************************************************************************

+%  MINMAXTIME CALLBACK (nested function)

+%  ************************************************************************

+function minmaxtime_callback(hObj,event) %#ok<INUSL>

+    new_mintime=get(h.sliders.MinTime,'Value');

+    new_maxtime=get(h.sliders.MaxTime,'Value');

+

+    %Safety checks:

+    bErr=false;

+    %1: mintime must be < maxtime

+    if((new_mintime>maxtime) || (new_maxtime<mintime))

+        set(h.labels.GUIState,'String','Error: Mintime cannot be bigger than maxtime! Values were not changed.','BackgroundColor','red');

+        bErr=true;

+    else

+        %2: MinTime must be <=CurTime

+        if(new_mintime>CurTime)

+            set(h.labels.GUIState,'String','Error: Mintime cannot be bigger than CurTime! CurTime set to new mintime.','BackgroundColor','red');

+            mintime=new_mintime;

+            CurTime=mintime;

+            bErr=true;

+        end

+        %3: MaxTime must be >CurTime

+        if(new_maxtime<CurTime)

+            set(h.labels.GUIState,'String','Error: Maxtime cannot be smaller than CurTime! CurTime set to new maxtime.','BackgroundColor','red');

+            maxtime=new_maxtime;

+            CurTime=maxtime;

+            bErr=true;

+        end

+    end

+

+    if(bErr==false)

+        maxtime=new_maxtime;

+        mintime=new_mintime;

+    end

+

+    %Needs to be done in case values were reset above

+    set(h.sliders.MinTime,'Value',mintime);

+    set(h.sliders.MaxTime,'Value',maxtime);

+

+    %Update curtime-slider

+    set(h.sliders.CurTime,'Value',CurTime);

+    set(h.sliders.CurTime,'Max',maxtime);

+    set(h.sliders.CurTime,'Min',mintime);

+    temp=get(h.sliders.CurTime,'Max')-get(h.sliders.CurTime,'Min'); 

+    set(h.sliders.CurTime,'SliderStep',[1.0/temp 5.0/temp]);  %Set Stepsize to constant [in seconds]

+

+    %update edit fields

+    set(h.edits.CurTime,'String',get(h.sliders.CurTime,'Value'));

+    set(h.edits.MinTime,'String',get(h.sliders.MinTime,'Value'));

+    set(h.edits.MaxTime,'String',get(h.sliders.MaxTime,'Value'));

+

+    %Finally, we have to redraw. Update time indices first.

+    [imintime,imaxtime]=FindMinMaxTimeIndices();

+    DrawRawData();                  %Rawdata only

+    DrawCurrentAircraftState();     %path info & markers

+end

+

+

+%% ************************************************************************

+%  CURTIME CALLBACK (nested function)

+%  ************************************************************************

+function curtime_callback(hObj,event) %#ok<INUSL>

+    %find current time

+    if(hObj==h.sliders.CurTime)

+        CurTime=get(h.sliders.CurTime,'Value');

+    elseif (hObj==h.edits.CurTime)

+        temp=str2num(get(h.edits.CurTime,'String'));

+        if(temp<maxtime && temp>mintime)

+            CurTime=temp;

+        else

+            %Error

+            set(h.labels.GUIState,'String','Error: You tried to set an invalid current time! Previous value restored.','BackgroundColor','red');

+        end

+    else

+        %Error

+        set(h.labels.GUIState,'String','Error: curtime_callback','BackgroundColor','red');        

+    end

+    

+    set(h.sliders.CurTime,'Value',CurTime);

+    set(h.edits.CurTime,'String',num2str(CurTime));

+    

+    %Redraw time markers, but don't have to redraw the whole raw data

+    DrawCurrentAircraftState();

+end

+

+%% ************************************************************************

+%  FINDMINMAXINDICES (nested function)

+%  ************************************************************************

+function [idxmin,idxmax] = FindMinMaxTimeIndices()

+    for i=1:size(sysvector.TIME_StartTime,1)

+        if time(i)>=mintime; idxmin=i; break; end

+    end

+    for i=1:size(sysvector.TIME_StartTime,1)

+        if maxtime==0; idxmax=size(sysvector.TIME_StartTime,1); break; end

+        if time(i)>=maxtime; idxmax=i; break; end

+    end

+    mintime=time(idxmin); 

+    maxtime=time(idxmax);

+end

+

+%% ************************************************************************

+%  ISVALIDHANDLE (nested function)

+%  ************************************************************************

+function isvalid = isvalidhandle(handle)

+   if(exist(varname(handle))>0 && length(ishandle(handle))>0) 

+        if(ishandle(handle)>0)

+            if(handle>0.0)

+                isvalid=true;

+                return;

+            end

+        end

+   end

+   isvalid=false;

+end

+

+%% ************************************************************************

+%  JUST SOME SMALL HELPER FUNCTIONS (nested function)

+%  ************************************************************************

+function out = varname(var)

+   out = inputname(1);

+end

+

+%This is the end of the matlab file / the main function

+end

diff --git a/Tools/sdlog2_dump.py b/Tools/sdlog2_dump.py
index 318f72971..ebc04f4d0 100644
--- a/Tools/sdlog2_dump.py
+++ b/Tools/sdlog2_dump.py
@@ -55,6 +55,8 @@ class SDLog2Parser:
     __time_msg = None
     __debug_out = False
     __correct_errors = False
+    __file_name = None
+    __file = None
     
     def __init__(self):
         return
@@ -87,6 +89,14 @@ class SDLog2Parser:
 
     def setCorrectErrors(self, correct_errors):
         self.__correct_errors = correct_errors
+
+    def setFileName(self, file_name):
+    	self.__file_name = file_name
+    	if file_name != None:
+    		self.__file = open(file_name, 'w+')
+    	else:
+    		self.__file = None
+
     
     def process(self, fn):
         self.reset()
@@ -154,10 +164,13 @@ class SDLog2Parser:
                 show_fields = self.__msg_labels.get(msg_name, [])
             self.__msg_filter_map[msg_name] = show_fields
             for field in show_fields:
-                full_label = msg_name + "." + field
+                full_label = msg_name + "_" + field
                 self.__csv_columns.append(full_label)
                 self.__csv_data[full_label] = None
-        print self.__csv_delim.join(self.__csv_columns)
+        if self.__file != None:
+                print >> self.__file, self.__csv_delim.join(self.__csv_columns)
+        else:
+                print self.__csv_delim.join(self.__csv_columns)
 
     def __printCSVRow(self):
         s = []
@@ -168,7 +181,11 @@ class SDLog2Parser:
             else:
                 v = str(v)
             s.append(v)
-        print self.__csv_delim.join(s)
+
+        if self.__file != None:
+                print >> self.__file, self.__csv_delim.join(s)
+        else:
+                print self.__csv_delim.join(s)
 
     def __parseMsgDescr(self):
         data = struct.unpack(self.MSG_FORMAT_STRUCT, self.__buffer[self.__ptr + 3 : self.__ptr + self.MSG_FORMAT_PACKET_LEN])
@@ -224,7 +241,7 @@ class SDLog2Parser:
                 for i in xrange(len(data)):
                     label = msg_labels[i]
                     if label in show_fields:
-                        self.__csv_data[msg_name + "." + label] = data[i]
+                        self.__csv_data[msg_name + "_" + label] = data[i]
                         if self.__time_msg != None and msg_name != self.__time_msg:
                             self.__csv_updated = True
                 if self.__time_msg == None:
@@ -240,6 +257,7 @@ def _main():
         print "\t-n\tUse \"null\" as placeholder for empty values in CSV. Default is empty.\n"
         print "\t-m MSG[.field1,field2,...]\n\t\tDump only messages of specified type, and only specified fields.\n\t\tMultiple -m options allowed."
         print "\t-t\tSpecify TIME message name to group data messages by time and significantly reduce duplicate output.\n"
+        print "\t-fPrint to file instead of stdout"
         return
     fn = sys.argv[1]
     debug_out = False
@@ -247,7 +265,8 @@ def _main():
     msg_filter = []
     csv_null = ""
     csv_delim = ","
-    time_msg = None
+    time_msg = "TIME"
+    file_name = None
     opt = None
     for arg in sys.argv[2:]:
         if opt != None:
@@ -257,9 +276,11 @@ def _main():
                 csv_null = arg
             elif opt == "t":
                 time_msg = arg
+            elif opt == "f":
+            	file_name = arg
             elif opt == "m":
                 show_fields = "*"
-                a = arg.split(".")
+                a = arg.split("_")
                 if len(a) > 1:
                     show_fields = a[1].split(",")
                 msg_filter.append((a[0], show_fields))
@@ -277,6 +298,8 @@ def _main():
                 opt = "m"
             elif arg == "-t":
                 opt = "t"
+            elif arg == "-f":
+                opt = "f"
 
     if csv_delim == "\\t":
         csv_delim = "\t"
@@ -285,6 +308,7 @@ def _main():
     parser.setCSVNull(csv_null)
     parser.setMsgFilter(msg_filter)
     parser.setTimeMsg(time_msg)
+    parser.setFileName(file_name)
     parser.setDebugOut(debug_out)
     parser.setCorrectErrors(correct_errors)
     parser.process(fn)
diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk
index 17cdd64c8..e6ec840f9 100644
--- a/makefiles/config_px4fmu-v1_default.mk
+++ b/makefiles/config_px4fmu-v1_default.mk
@@ -53,6 +53,7 @@ MODULES		+= systemcmds/pwm
 MODULES		+= systemcmds/reboot
 MODULES		+= systemcmds/top
 MODULES		+= systemcmds/tests
+MODULES		+= systemcmds/config
 
 #
 # General system control
diff --git a/src/drivers/ets_airspeed/ets_airspeed.cpp b/src/drivers/ets_airspeed/ets_airspeed.cpp
index 2e32ed334..de8028b0f 100644
--- a/src/drivers/ets_airspeed/ets_airspeed.cpp
+++ b/src/drivers/ets_airspeed/ets_airspeed.cpp
@@ -157,6 +157,14 @@ ETSAirspeed::collect()
 	}
 
 	uint16_t diff_pres_pa = val[1] << 8 | val[0];
+        if (diff_pres_pa == 0) {
+            // a zero value means the pressure sensor cannot give us a
+            // value. We need to return, and not report a value or the
+            // caller could end up using this value as part of an
+            // average
+            log("zero value from sensor"); 
+            return -1;
+        }
 
 	if (diff_pres_pa < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) {
 		diff_pres_pa = 0;
diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp
index 8d9054a38..1fd6cb17e 100644
--- a/src/drivers/mpu6000/mpu6000.cpp
+++ b/src/drivers/mpu6000/mpu6000.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,6 +35,9 @@
  * @file mpu6000.cpp
  *
  * Driver for the Invensense MPU6000 connected via SPI.
+ *
+ * @author Andrew Tridgell
+ * @author Pat Hickey
  */
 
 #include <nuttx/config.h>
@@ -191,6 +194,7 @@ private:
 	orb_advert_t		_gyro_topic;
 
 	unsigned		_reads;
+	unsigned		_sample_rate;
 	perf_counter_t		_sample_perf;
 
 	/**
@@ -314,6 +318,7 @@ MPU6000::MPU6000(int bus, spi_dev_e device) :
 	_gyro_range_rad_s(0.0f),
 	_gyro_topic(-1),
 	_reads(0),
+	_sample_rate(500),
 	_sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read"))
 {
 	// disable debug() calls
@@ -366,10 +371,6 @@ MPU6000::init()
 		return ret;
 	}
 
-	/* advertise sensor topics */
-	_accel_topic = orb_advertise(ORB_ID(sensor_accel), &_accel_report);
-	_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &_gyro_report);
-
 	// Chip reset
 	write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET);
 	up_udelay(10000);
@@ -384,7 +385,7 @@ MPU6000::init()
 
 	// SAMPLE RATE
 	//write_reg(MPUREG_SMPLRT_DIV, 0x04);     // Sample rate = 200Hz    Fsample= 1Khz/(4+1) = 200Hz
-	_set_sample_rate(200); // default sample rate = 200Hz
+	_set_sample_rate(_sample_rate); // default sample rate = 200Hz
 	usleep(1000);
 
 	// FS & DLPF   FS=2000 deg/s, DLPF = 20Hz (low pass filter)
@@ -463,10 +464,18 @@ MPU6000::init()
 	/* do CDev init for the gyro device node, keep it optional */
 	int gyro_ret = _gyro->init();
 
+	/* ensure we got real values to share */
+	measure();
+
 	if (gyro_ret != OK) {
 		_gyro_topic = -1;
+	} else {
+		_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &_gyro_report);
 	}
 
+	/* advertise sensor topics */
+	_accel_topic = orb_advertise(ORB_ID(sensor_accel), &_accel_report);
+
 	return ret;
 }
 
@@ -509,6 +518,7 @@ MPU6000::_set_sample_rate(uint16_t desired_sample_rate_hz)
   if(div>200) div=200;
   if(div<1) div=1;
   write_reg(MPUREG_SMPLRT_DIV, div-1);
+  _sample_rate = 1000 / div;
 }
 
 /*
@@ -660,8 +670,10 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
 		return -EINVAL;
 
 
-	case ACCELIOCSSAMPLERATE:
 	case ACCELIOCGSAMPLERATE:
+		return _sample_rate;
+
+	case ACCELIOCSSAMPLERATE:
 	  _set_sample_rate(arg);
 	  return OK;
 
@@ -689,12 +701,13 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
 		return OK;
 
 	case ACCELIOCSRANGE:
-	case ACCELIOCGRANGE:
 		/* XXX not implemented */
 		// XXX change these two values on set:
 		// _accel_range_scale = (9.81f / 4096.0f);
-		// _accel_range_rad_s = 8.0f * 9.81f;
+		// _accel_range_m_s2 = 8.0f * 9.81f;
 		return -EINVAL;
+	case ACCELIOCGRANGE:
+		return _accel_range_m_s2;
 
 	case ACCELIOCSELFTEST:
 		return self_test();
@@ -718,10 +731,12 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 	case SENSORIOCRESET:
 		return ioctl(filp, cmd, arg);
 
-	case GYROIOCSSAMPLERATE:
 	case GYROIOCGSAMPLERATE:
-	  _set_sample_rate(arg);
-	  return OK;
+		return _sample_rate;
+
+	case GYROIOCSSAMPLERATE:
+		_set_sample_rate(arg);
+		return OK;
 
 	case GYROIOCSLOWPASS:
 	case GYROIOCGLOWPASS:
@@ -739,12 +754,13 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 		return OK;
 
 	case GYROIOCSRANGE:
-	case GYROIOCGRANGE:
 		/* XXX not implemented */
 		// XXX change these two values on set:
 		// _gyro_range_scale = xx
-		// _gyro_range_m_s2 = xx
+		// _gyro_range_rad_s = xx
 		return -EINVAL;
+	case GYROIOCGRANGE:
+		return _gyro_range_rad_s;
 
 	case GYROIOCSELFTEST:
 		return self_test();
diff --git a/src/modules/commander/commander.c b/src/modules/commander/commander.c
index 8e5e36712..e9d1f3954 100644
--- a/src/modules/commander/commander.c
+++ b/src/modules/commander/commander.c
@@ -587,6 +587,8 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
 
 	close(fd);
 
+	int errcount = 0;
+
 	while (calibration_counter < calibration_count) {
 
 		/* wait blocking for new data */
@@ -602,8 +604,12 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
 			calibration_counter++;
 
 		} else if (poll_ret == 0) {
-			/* any poll failure for 1s is a reason to abort */
-			mavlink_log_info(mavlink_fd, "gyro calibration aborted, retry");
+			errcount++;
+		}
+
+		if (errcount > 1000) {
+			/* any persisting poll error is a reason to abort */
+			mavlink_log_info(mavlink_fd, "permanent gyro error, aborted.");
 			return;
 		}
 	}
diff --git a/src/systemcmds/config/config.c b/src/systemcmds/config/config.c
new file mode 100644
index 000000000..2dad2261b
--- /dev/null
+++ b/src/systemcmds/config/config.c
@@ -0,0 +1,200 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * 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 config.c
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * config tool.
+ */
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdbool.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <sys/stat.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/drv_gyro.h>
+#include <drivers/drv_accel.h>
+#include <drivers/drv_mag.h>
+
+#include "systemlib/systemlib.h"
+#include "systemlib/err.h"
+
+__EXPORT int config_main(int argc, char *argv[]);
+
+static void	do_gyro(int argc, char *argv[]);
+static void	do_accel(int argc, char *argv[]);
+static void	do_mag(int argc, char *argv[]);
+
+int
+config_main(int argc, char *argv[])
+{
+	if (argc >= 2) {
+		if (!strcmp(argv[1], "gyro")) {
+			if (argc >= 3) {
+				do_gyro(argc - 2, argv + 2);
+			} else {
+				errx(1, "not enough parameters.");
+			}
+		}
+
+		if (!strcmp(argv[1], "accel")) {
+			if (argc >= 3) {
+				do_accel(argc - 2, argv + 2);
+			} else {
+				errx(1, "not enough parameters.");
+			}
+		}
+
+		if (!strcmp(argv[1], "mag")) {
+			if (argc >= 3) {
+				do_mag(argc - 2, argv + 2);
+			} else {
+				errx(1, "not enough parameters.");
+			}
+		}
+	}
+	
+	errx(1, "expected a command, try 'gyro', 'accel', 'mag'");
+}
+
+static void
+do_gyro(int argc, char *argv[])
+{
+	int	fd;
+
+	fd = open(GYRO_DEVICE_PATH, 0);
+
+	if (fd < 0) {
+		warn("%s", GYRO_DEVICE_PATH);
+		errx(1, "FATAL: no gyro found");
+
+	} else {
+
+		if (argc >= 2) {
+
+			char* end;
+			int i = strtol(argv[1],&end,10);
+
+			if (!strcmp(argv[0], "sampling")) {
+
+				/* set the accel internal sampling rate up to at leat i Hz */
+				ioctl(fd, GYROIOCSSAMPLERATE, i);
+
+			} else if (!strcmp(argv[0], "rate")) {
+
+				/* set the driver to poll at i Hz */
+				ioctl(fd, SENSORIOCSPOLLRATE, i);
+			} else if (!strcmp(argv[0], "range")) {
+
+				/* set the range to i dps */
+				ioctl(fd, GYROIOCSRANGE, i);
+			}
+
+		} else if (!(argc > 0 && !strcmp(argv[0], "info"))) {
+			warnx("no arguments given. Try: \n\n\t'sampling 500' to set sampling to 500 Hz\n\t'rate 500' to set publication rate to 500 Hz\n\t'range 2000' to set measurement range to 2000 dps\n\t");
+		}
+
+		int srate = ioctl(fd, GYROIOCGSAMPLERATE, 0);
+		int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0);
+		int range = ioctl(fd, GYROIOCGRANGE, 0);
+
+		warnx("gyro: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d dps", srate, prate, range);
+
+		close(fd);
+	}
+
+	exit(0);
+}
+
+static void
+do_mag(int argc, char *argv[])
+{
+	exit(0);
+}
+
+static void
+do_accel(int argc, char *argv[])
+{
+	int	fd;
+
+	fd = open(ACCEL_DEVICE_PATH, 0);
+
+	if (fd < 0) {
+		warn("%s", ACCEL_DEVICE_PATH);
+		errx(1, "FATAL: no accelerometer found");
+
+	} else {
+
+		if (argc >= 2) {
+
+			char* end;
+			int i = strtol(argv[1],&end,10);
+
+			if (!strcmp(argv[0], "sampling")) {
+
+				/* set the accel internal sampling rate up to at leat i Hz */
+				ioctl(fd, ACCELIOCSSAMPLERATE, i);
+
+			} else if (!strcmp(argv[0], "rate")) {
+
+				/* set the driver to poll at i Hz */
+				ioctl(fd, SENSORIOCSPOLLRATE, i);
+			} else if (!strcmp(argv[0], "range")) {
+
+				/* set the range to i dps */
+				ioctl(fd, ACCELIOCSRANGE, i);
+			}
+		} else if (!(argc > 0 && !strcmp(argv[0], "info"))) {
+			warnx("no arguments given. Try: \n\n\t'sampling 500' to set sampling to 500 Hz\n\t'rate 500' to set publication rate to 500 Hz\n\t'range 2' to set measurement range to 2 G\n\t");
+		}
+
+		int srate = ioctl(fd, ACCELIOCGSAMPLERATE, 0);
+		int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0);
+		int range = ioctl(fd, ACCELIOCGRANGE, 0);
+
+		warnx("accel: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d m/s", srate, prate, range);
+
+		close(fd);
+	}
+
+	exit(0);
+}
diff --git a/src/systemcmds/config/module.mk b/src/systemcmds/config/module.mk
new file mode 100644
index 000000000..0a75810b0
--- /dev/null
+++ b/src/systemcmds/config/module.mk
@@ -0,0 +1,44 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Build the config tool.
+#
+
+MODULE_COMMAND	 = config
+SRCS		 = config.c
+
+MODULE_STACKSIZE = 4096
+
+MAXOPTIMIZATION	 = -Os
+