Merge branch 'master' into ms5611_newmath

179 files changed, 3052 insertions, 988 deletions

diff --git a/ROMFS/mixers/FMU_quad_+.mix b/ROMFS/mixers/FMU_quad_+.mix
index 550ed8316..dfdf1d58e 100644
--- a/ROMFS/mixers/FMU_quad_+.mix
+++ b/ROMFS/mixers/FMU_quad_+.mix
@@ -1,7 +1,7 @@
 Multirotor mixer for PX4FMU
 ===========================
 
-This file defines a single mixer for a quadrotor in the + configuration, with 10% contribution from 
-roll and pitch and 20% contribution from yaw and no deadband.
+This file defines a single mixer for a quadrotor in the + configuration. All controls
+are mixed 100%.
 
-R: 4+ 1000 1000 2000 0
+R: 4+ 10000 10000 10000 0
diff --git a/ROMFS/mixers/FMU_quad_x.mix b/ROMFS/mixers/FMU_quad_x.mix
index 285a40e1a..12a3bee20 100644
--- a/ROMFS/mixers/FMU_quad_x.mix
+++ b/ROMFS/mixers/FMU_quad_x.mix
@@ -1,7 +1,7 @@
 Multirotor mixer for PX4FMU
 ===========================
 
-This file defines a single mixer for a quadrotor in the X configuration, with 10% contribution from 
-roll and pitch and 20% contribution from yaw and no deadband.
+This file defines a single mixer for a quadrotor in the X configuration.  All controls
+are mixed 100%.
 
-R: 4x 1000 1000 2000 0
+R: 4x 10000 10000 10000 0
diff --git a/ROMFS/scripts/rc.PX4FMU_quad_x b/ROMFS/scripts/rc.PX4FMU_quad_x
new file mode 100644
index 000000000..aca990d33
--- /dev/null
+++ b/ROMFS/scripts/rc.PX4FMU_quad_x
@@ -0,0 +1,40 @@
+#
+# Startup for X-quad on FMU1.5/1.6
+# 
+
+echo "[init] uORB"
+uorb start
+
+echo "[init] eeprom"
+eeprom start
+if [ -f /eeprom/parameters]
+then
+	eeprom load_param /eeprom/parameters
+fi
+
+echo "[init] sensors"
+#bma180 start
+#l3gd20 start
+mpu6000 start
+hmc5883 start
+ms5611 start
+
+sensors start
+
+echo "[init] mavlink"
+mavlink start -d /dev/ttyS0 -b 57600
+usleep 5000
+
+echo "[init] commander"
+commander start
+
+echo "[init] attitude control"
+attitude_estimator_bm &
+multirotor_att_control start
+
+echo "[init] starting PWM output"
+fmu mode_pwm
+mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
+
+echo "[init] startup done, exiting"
+exit
diff --git a/apps/ChangeLog.txt b/apps/ChangeLog.txt
index 361fb97dc..5b75f40ed 100755
--- a/apps/ChangeLog.txt
+++ b/apps/ChangeLog.txt
@@ -289,5 +289,19 @@
 	  threds to no more than 3 of each priority.  Bad things happen
 	  when the existing logic tried to created several hundred test
 	  treads!
-
-
+	* apps/nshlib/nsh.h:  Both CONFIG_LIBC_STRERROR and CONFIG_NSH_STRERROR
+	  must be defined to use strerror() with NSH.
+	* apps/examples/*/*_main.c, system/i2c/i2c_main.c, and others:  Added
+	  configuration variable CONFIG_USER_ENTRYPOINT that may be used to change
+	  the default entry from user_start to some other symbol.  Contributed by
+	  Kate.
+	* apps/netutils/webserver/httpd/c:  Fix a typo that as introduced in
+	  version r4402:  'lese' instead of 'else' (Noted by Max Holtzberg).
+	* tools/mkfsdata.pl: The uIP web server CGI image making perl script was
+	  moved from apps/netutils/webserver/makefsdata to nuttx/tools/mkfsdata.pl
+	  (Part of a larger change submitted by Max Holtzberg).
+	* apps/netutils/webserver, apps/examples/uip, and apps/include/netutils/httpd.h:
+	  The "canned" version of the uIP web servers content that was at 
+	  netutils/webserver/httpd_fsdata.c has been replaced with a dynamically
+	  built configuration located at apps/examples/uip (Contributed by
+	  Max Holtzberg).
diff --git a/apps/README.txt b/apps/README.txt
index 426658572..f9c9ececd 100644
--- a/apps/README.txt
+++ b/apps/README.txt
@@ -118,7 +118,7 @@ the NuttX configuration file:
   CONFIG_BUILTIN_APP_START=<application name>
   
 that application shall be invoked immediately after system starts
-*instead* of the normal, default "user_start" entry point.
+*instead* of the default "user_start" entry point.
 Note that <application name> must be provided as: "hello", 
 will call:
 
diff --git a/apps/ardrone_interface/ardrone_interface.c b/apps/ardrone_interface/ardrone_interface.c
index fdbe3cb62..5b7678a3c 100644
--- a/apps/ardrone_interface/ardrone_interface.c
+++ b/apps/ardrone_interface/ardrone_interface.c
@@ -63,6 +63,7 @@ __EXPORT int ardrone_interface_main(int argc, char *argv[]);
 static bool thread_should_exit = false;		/**< Deamon exit flag */
 static bool thread_running = false;		/**< Deamon status flag */
 static int ardrone_interface_task;		/**< Handle of deamon task / thread */
+static int ardrone_write;			/**< UART to write AR.Drone commands to */
 
 /**
  * Mainloop of ardrone_interface.
@@ -70,6 +71,11 @@ static int ardrone_interface_task;		/**< Handle of deamon task / thread */
 int ardrone_interface_thread_main(int argc, char *argv[]);
 
 /**
+ * Open the UART connected to the motor controllers
+ */
+static int ardrone_open_uart(struct termios *uart_config_original);
+
+/**
  * Print the correct usage.
  */
 static void usage(const char *reason);
@@ -128,63 +134,74 @@ int ardrone_interface_main(int argc, char *argv[])
 	exit(1);
 }
 
+static int ardrone_open_uart(struct termios *uart_config_original)
+{
+	/* baud rate */
+	int speed = B115200;
+	int uart;
+	const char* uart_name = "/dev/ttyS1";
+
+	/* open uart */
+	printf("[ardrone_interface] UART is /dev/ttyS1, baud rate is 115200");
+	uart = open(uart_name, O_RDWR | O_NOCTTY);
+
+	/* Try to set baud rate */
+	struct termios uart_config;
+	int termios_state;
+
+	/* Back up the original uart configuration to restore it after exit */
+	if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
+		fprintf(stderr, "[ardrone_interface] ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state);
+		close(uart);
+		return -1;
+	}
+
+	/* Fill the struct for the new configuration */
+	tcgetattr(uart, &uart_config);
+
+	/* Clear ONLCR flag (which appends a CR for every LF) */
+	uart_config.c_oflag &= ~ONLCR;
+
+	/* Set baud rate */
+	if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
+		fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
+		close(uart);
+		return -1;
+	}
+
+
+	if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
+		fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
+		close(uart);
+		return -1;
+	}
+
+	return uart;
+}
+
 int ardrone_interface_thread_main(int argc, char *argv[])
 {
 	/* welcome user */
 	printf("[ardrone_interface] Control started, taking over motors\n");
-
-	/* default values for arguments */
-	char *ardrone_uart_name = "/dev/ttyS1";
-
+	
 	/* File descriptors */
-	int ardrone_write;
 	int gpios;
 
-	enum {
-		CONTROL_MODE_RATES = 0,
-		CONTROL_MODE_ATTITUDE = 1,
-	} control_mode = CONTROL_MODE_ATTITUDE;
-
-	char *commandline_usage = "\tusage: ardrone_interface -d ardrone-devicename -m mode\n\tmodes are:\n\t\trates\n\t\tattitude\n";
+	char *commandline_usage = "\tusage: ardrone_interface start|status|stop [-t for motor test (10%% thrust)]\n";
 
 	bool motor_test_mode = false;
 
 	/* read commandline arguments */
 	for (int i = 1; i < argc; i++) {
-		if (strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "--device") == 0) { //ardrone set
-			if (argc > i + 1) {
-				ardrone_uart_name = argv[i + 1];
-			} else {
-				printf(commandline_usage);
-				return ERROR;
-			}
-
-		} else if (strcmp(argv[i], "-m") == 0 || strcmp(argv[i], "--mode") == 0) {
-			if (argc > i + 1) {
-				if (strcmp(argv[i + 1], "rates") == 0) {
-					control_mode = CONTROL_MODE_RATES;
-
-				} else if (strcmp(argv[i + 1], "attitude") == 0) {
-					control_mode = CONTROL_MODE_ATTITUDE;
-
-				} else {
-					printf(commandline_usage);
-					return ERROR;
-				}
-
-			} else {
-				printf(commandline_usage);
-				return ERROR;
-			}
-
-		} else if (strcmp(argv[i], "-t") == 0 || strcmp(argv[i], "--test") == 0) {
+		if (strcmp(argv[i], "-t") == 0 || strcmp(argv[i], "--test") == 0) {
 			motor_test_mode = true;
 		}
 	}
 
-	/* open uarts */
-	printf("[ardrone_interface] AR.Drone UART is %s\n", ardrone_uart_name);
-	ardrone_write = open(ardrone_uart_name, O_RDWR | O_NOCTTY | O_NDELAY);
+	struct termios uart_config_original;
+
+	ardrone_write = ardrone_open_uart(&uart_config_original);
+
 	if (ardrone_write < 0) {
 		fprintf(stderr, "[ardrone_interface] Failed opening AR.Drone UART, exiting.\n");
 		exit(ERROR);
@@ -279,11 +296,19 @@ int ardrone_interface_thread_main(int argc, char *argv[])
 		counter++;
 	}
 
+	/* restore old UART config */
+	int termios_state;
+
+	if ((termios_state = tcsetattr(ardrone_write, TCSANOW, &uart_config_original)) < 0) {
+		fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for (tcsetattr)\n");
+	}
+
+	printf("[ardrone_interface] Restored original UART config, exiting..\n");
+
 	/* close uarts */
 	close(ardrone_write);
 	ar_multiplexing_deinit(gpios);
 
-	printf("[ardrone_interface] ending now...\n\n");
 	fflush(stdout);
 
 	thread_running = false;
diff --git a/apps/commander/state_machine_helper.c b/apps/commander/state_machine_helper.c
index 462406648..4e2166a3a 100644
--- a/apps/commander/state_machine_helper.c
+++ b/apps/commander/state_machine_helper.c
@@ -43,6 +43,7 @@
 
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/actuator_controls.h>
 #include <systemlib/systemlib.h>
 #include <arch/board/up_hrt.h>
 #include <mavlink/mavlink_log.h>
@@ -121,7 +122,7 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
 		if (current_status->state_machine == SYSTEM_STATE_STANDBY
 		 || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
 			/* set system flags according to state */
-			current_status->flag_system_armed = true;
+			current_status->flag_system_armed = false;
 			mavlink_log_critical(mavlink_fd, "[commander] Switched to PREFLIGHT state");
 		} else {
 			invalid_state = true;
@@ -198,6 +199,10 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
 	if (invalid_state == false || old_state != new_state) {
 		current_status->state_machine = new_state;
 		state_machine_publish(status_pub, current_status, mavlink_fd);
+		struct actuator_armed_s armed;
+		armed.armed = current_status->flag_system_armed;
+		orb_advert_t armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed);
+		orb_publish(ORB_ID(actuator_armed), armed_pub, &armed);
 		ret = OK;
 	}
 	if (invalid_state) {
diff --git a/apps/examples/README.txt b/apps/examples/README.txt
index 7d068f979..52d7279da 100644
--- a/apps/examples/README.txt
+++ b/apps/examples/README.txt
@@ -1345,10 +1345,14 @@ examples/uip
   file in the configuration driver with instruction to build applications
   like:
 
-  CONFIGURED_APPS += uiplib
-  CONFIGURED_APPS += dhcpc
-  CONFIGURED_APPS += resolv
-  CONFIGURED_APPS += webserver
+    CONFIGURED_APPS += uiplib
+    CONFIGURED_APPS += dhcpc
+    CONFIGURED_APPS += resolv
+    CONFIGURED_APPS += webserver
+
+  NOTE:  This example does depend on the perl script at
+  nuttx/tools/mkfsdata.pl.  You must have perl installed on your
+  development system at /usr/bin/perl.
 
 examples/usbserial
 ^^^^^^^^^^^^^^^^^^
diff --git a/apps/examples/adc/adc_main.c b/apps/examples/adc/adc_main.c
index b88032654..4797265db 100644
--- a/apps/examples/adc/adc_main.c
+++ b/apps/examples/adc/adc_main.c
@@ -57,14 +57,6 @@
  * Pre-processor Definitions
  ****************************************************************************/
 
-#ifdef CONFIG_NSH_BUILTIN_APPS
-#  define MAIN_NAME   adc_main
-#  define MAIN_STRING "adc_main: "
-#else
-#  define MAIN_NAME   user_start
-#  define MAIN_STRING "user_start: "
-#endif
-
 /****************************************************************************
  * Private Types
  ****************************************************************************/
@@ -223,10 +215,10 @@ static void parse_args(FAR struct adc_state_s *adc, int argc, FAR char **argv)
  ****************************************************************************/
 
 /****************************************************************************
- * Name: user_start/adc_main
+ * Name: adc_main
  ****************************************************************************/
 
-int MAIN_NAME(int argc, char *argv[])
+int adc_main(int argc, char *argv[])
 {
   struct adc_msg_s sample[CONFIG_EXAMPLES_ADC_GROUPSIZE];
   size_t readsize;
@@ -244,11 +236,11 @@ int MAIN_NAME(int argc, char *argv[])
        * this test.
        */
 
-      message(MAIN_STRING "Initializing external ADC device\n");
+      message("adc_main: Initializing external ADC device\n");
       ret = adc_devinit();
       if (ret != OK)
         {
-          message(MAIN_STRING "adc_devinit failed: %d\n", ret);
+          message("adc_main: adc_devinit failed: %d\n", ret);
           errval = 1;
           goto errout;
         }
@@ -276,18 +268,18 @@ int MAIN_NAME(int argc, char *argv[])
    */
 
 #if defined(CONFIG_NSH_BUILTIN_APPS) || defined(CONFIG_EXAMPLES_ADC_NSAMPLES)
-  message(MAIN_STRING "g_adcstate.count: %d\n", g_adcstate.count);
+  message("adc_main: g_adcstate.count: %d\n", g_adcstate.count);
 #endif
 
   /* Open the ADC device for reading */
 
-  message(MAIN_STRING "Hardware initialized. Opening the ADC device: %s\n",
+  message("adc_main: Hardware initialized. Opening the ADC device: %s\n",
           g_adcstate.devpath);
 
   fd = open(g_adcstate.devpath, O_RDONLY);
   if (fd < 0)
     {
-      message(MAIN_STRING "open %s failed: %d\n", g_adcstate.devpath, errno);
+      message("adc_main: open %s failed: %d\n", g_adcstate.devpath, errno);
       errval = 2;
       goto errout_with_dev;
     }
@@ -322,17 +314,17 @@ int MAIN_NAME(int argc, char *argv[])
         errval = errno;
         if (errval != EINTR)
           {
-            message(MAIN_STRING "read %s failed: %d\n",
+            message("adc_main: read %s failed: %d\n",
                     g_adcstate.devpath, errval);
             errval = 3;
             goto errout_with_dev;
           }
 
-        message(MAIN_STRING "Interrupted read...\n");
+        message("adc_main: Interrupted read...\n");
       }
     else if (nbytes == 0)
       {
-        message(MAIN_STRING "No data read, Ignoring\n");
+        message("adc_main: No data read, Ignoring\n");
       }
 
     /* Print the sample data on successful return */
@@ -342,7 +334,7 @@ int MAIN_NAME(int argc, char *argv[])
         int nsamples = nbytes / sizeof(struct adc_msg_s);
         if (nsamples * sizeof(struct adc_msg_s) != nbytes)
           {
-            message(MAIN_STRING "read size=%d is not a multiple of sample size=%d, Ignoring\n",
+            message("adc_main: read size=%d is not a multiple of sample size=%d, Ignoring\n",
                     nbytes, sizeof(struct adc_msg_s));
           }
         else
diff --git a/apps/examples/buttons/main.c b/apps/examples/buttons/main.c
index fe447ca6b..50124512c 100644
--- a/apps/examples/buttons/main.c
+++ b/apps/examples/buttons/main.c
@@ -130,16 +130,6 @@
 #define NUM_BUTTONS     (MAX_BUTTON - MIN_BUTTON + 1)
 #define BUTTON_INDEX(b) ((b)-MIN_BUTTON)
 
-/* Is this being built as an NSH built-in application? */
-
-#ifdef CONFIG_NSH_BUILTIN_APPS
-#  define MAIN_NAME   buttons_main
-#  define MAIN_STRING "buttons_main: "
-#else
-#  define MAIN_NAME   user_start
-#  define MAIN_STRING "user_start: "
-#endif
-
 /****************************************************************************
  * Private Types
  ****************************************************************************/
@@ -399,10 +389,10 @@ static int button7_handler(int irq, FAR void *context)
  ****************************************************************************/
 
 /****************************************************************************
- * user_start/buttons_main
+ * buttons_main
  ****************************************************************************/
 
-int MAIN_NAME(int argc, char *argv[])
+int buttons_main(int argc, char *argv[])
 {
   uint8_t newset;
   irqstate_t flags;
diff --git a/apps/examples/can/can_main.c b/apps/examples/can/can_main.c
index 0ea729e5e..d3ca24119 100644
--- a/apps/examples/can/can_main.c
+++ b/apps/examples/can/can_main.c
@@ -76,14 +76,6 @@
 #  define MAX_ID (1 << 11)
 #endif
 
-#ifdef CONFIG_NSH_BUILTIN_APPS
-#  define MAIN_NAME   can_main
-#  define MAIN_STRING "can_main: "
-#else
-#  define MAIN_NAME   user_start
-#  define MAIN_STRING "user_start: "
-#endif
-
 /****************************************************************************
  * Private Types
  ****************************************************************************/
@@ -109,10 +101,10 @@
  ****************************************************************************/
 
 /****************************************************************************
- * Name: user_start/can_main
+ * Name: can_main
  ****************************************************************************/
 
-int MAIN_NAME(int argc, char *argv[])
+int can_main(int argc, char *argv[])
 {
 #ifndef CONFIG_EXAMPLES_CAN_READONLY
   struct can_msg_s txmsg;
@@ -150,31 +142,31 @@ int MAIN_NAME(int argc, char *argv[])
     {
       nmsgs = strtol(argv[1], NULL, 10);
     }
-  message(MAIN_STRING "nmsgs: %d\n", nmsgs);
+  message("can_main: nmsgs: %d\n", nmsgs);
 #elif defined(CONFIG_EXAMPLES_CAN_NMSGS)
-  message(MAIN_STRING "nmsgs: %d\n", CONFIG_EXAMPLES_CAN_NMSGS);
+  message("can_main: nmsgs: %d\n", CONFIG_EXAMPLES_CAN_NMSGS);
 #endif
 
   /* Initialization of the CAN hardware is performed by logic external to
    * this test.
    */
 
-  message(MAIN_STRING "Initializing external CAN device\n");
+  message("can_main: Initializing external CAN device\n");
   ret = can_devinit();
   if (ret != OK)
     {
-      message(MAIN_STRING "can_devinit failed: %d\n", ret);
+      message("can_main: can_devinit failed: %d\n", ret);
       errval = 1;
       goto errout;
     }
 
   /* Open the CAN device for reading */
 
-  message(MAIN_STRING "Hardware initialized. Opening the CAN device\n");
+  message("can_main: Hardware initialized. Opening the CAN device\n");
   fd = open(CONFIG_EXAMPLES_CAN_DEVPATH, CAN_OFLAGS);
   if (fd < 0)
     {
-      message(MAIN_STRING "open %s failed: %d\n",
+      message("can_main: open %s failed: %d\n",
               CONFIG_EXAMPLES_CAN_DEVPATH, errno);
       errval = 2;
       goto errout_with_dev;
diff --git a/apps/examples/hello/main.c b/apps/examples/hello/main.c
index 7934dc34b..7e07cffd1 100644
--- a/apps/examples/hello/main.c
+++ b/apps/examples/hello/main.c
@@ -53,16 +53,10 @@
  ****************************************************************************/
 
 /****************************************************************************
- * user_start/hello_main
+ * hello_main
  ****************************************************************************/
 
-#ifdef CONFIG_EXAMPLES_HELLO_BUILTIN
-#  define MAIN_NAME hello_main
-#else
-#  define MAIN_NAME user_start
-#endif
-
-int MAIN_NAME(int argc, char *argv[])
+int hello_main(int argc, char *argv[])
 {
   printf("Hello, World!!\n");
   return 0;
diff --git a/apps/examples/helloxx/main.cxx b/apps/examples/helloxx/main.cxx
index 8514fead2..fcec7c761 100644
--- a/apps/examples/helloxx/main.cxx
+++ b/apps/examples/helloxx/main.cxx
@@ -124,24 +124,11 @@ static CHelloWorld g_HelloWorld;
 // Public Functions
 //***************************************************************************
 
-//***************************************************************************
-// user_start
-//***************************************************************************
-
 /****************************************************************************
- * Name: user_start/nxhello_main
+ * Name: helloxx_main
  ****************************************************************************/
 
-#ifdef CONFIG_EXAMPLES_HELLOXX_BUILTIN
-extern "C" int helloxx_main(int argc, char *argv[]);
-#  define MAIN_NAME   helloxx_main
-#  define MAIN_STRING "helloxx_main: "
-#else
-#  define MAIN_NAME   user_start
-#  define MAIN_STRING "user_start: "
-#endif
-
-int MAIN_NAME(int argc, char *argv[])
+int helloxx_main(int argc, char *argv[])
 {
   // If C++ initialization for static constructors is supported, then do
   // that first
@@ -153,7 +140,7 @@ int MAIN_NAME(int argc, char *argv[])
   // Exercise an explictly instantiated C++ object
 
   CHelloWorld *pHelloWorld = new CHelloWorld;
-  printf(MAIN_STRING "Saying hello from the dynamically constructed instance\n");
+  printf("helloxx_main: Saying hello from the dynamically constructed instance\n");
   pHelloWorld->HelloWorld();
 
   // Exercise an C++ object instantiated on the stack
@@ -161,14 +148,14 @@ int MAIN_NAME(int argc, char *argv[])
 #ifndef CONFIG_EXAMPLES_HELLOXX_NOSTACKCONST
   CHelloWorld HelloWorld;
 
-  printf(MAIN_STRING "Saying hello from the instance constructed on the stack\n");
+  printf("helloxx_main: Saying hello from the instance constructed on the stack\n");
   HelloWorld.HelloWorld();
 #endif
 
   // Exercise an statically constructed C++ object
 
 #ifdef CONFIG_HAVE_CXXINITIALIZE
-  printf(MAIN_STRING "Saying hello from the statically constructed instance\n");
+  printf("helloxx_main: Saying hello from the statically constructed instance\n");
   g_HelloWorld.HelloWorld();
 #endif
 
diff --git a/apps/examples/lcdrw/lcdrw_main.c b/apps/examples/lcdrw/lcdrw_main.c
index c366743f4..f39e1849d 100644
--- a/apps/examples/lcdrw/lcdrw_main.c
+++ b/apps/examples/lcdrw/lcdrw_main.c
@@ -152,16 +152,10 @@ static inline int lcdrw_initialize(FAR struct lcdrw_instance_s *inst)
  ****************************************************************************/
 
 /****************************************************************************
- * Name: lcdrw_main/user_start
+ * Name: lcdrw_main
  ****************************************************************************/
 
-#ifdef CONFIG_EXAMPLES_LCDRW_BUILTIN
-#  define MAIN_NAME lcdrw_main
-#else
-#  define MAIN_NAME user_start
-#endif
-
-int MAIN_NAME(int argc, char *argv[])
+int lcdrw_main(int argc, char *argv[])
 {
   struct lcdrw_instance_s inst;
   nxgl_coord_t row;
diff --git a/apps/examples/mm/mm_main.c b/apps/examples/mm/mm_main.c
index 036c39047..5d45efdc5 100644
--- a/apps/examples/mm/mm_main.c
+++ b/apps/examples/mm/mm_main.c
@@ -267,10 +267,10 @@ static void do_frees(void **mem, const int *size, const int *seq, int n)
  ****************************************************************************/
 
 /****************************************************************************
- * Name: user_start
+ * Name: mm_main
  ****************************************************************************/
 
-int user_start(int argc, char *argv[])
+int mm_main(int argc, char *argv[])
 {
   mm_showmallinfo();
 
diff --git a/apps/examples/mount/mount_main.c b/apps/examples/mount/mount_main.c
index 00070b94c..5f881e40c 100644
--- a/apps/examples/mount/mount_main.c
+++ b/apps/examples/mount/mount_main.c
@@ -567,10 +567,10 @@ static void succeed_stat(const char *path)
  ****************************************************************************/
 
 /****************************************************************************
- * Name: user_start
+ * Name: mount_main
  ****************************************************************************/
 
-int user_start(int argc, char *argv[])
+int mount_main(int argc, char *argv[])
 {
   int  ret;
 
@@ -580,18 +580,18 @@ int user_start(int argc, char *argv[])
   ret = create_ramdisk();
   if (ret < 0)
     {
-      printf("user_start: ERROR failed to create RAM disk\n");
+      printf("mount_main: ERROR failed to create RAM disk\n");
       return 1;
     }
 #endif
 
   /* Mount the test file system (see arch/sim/src/up_deviceimage.c */
 
-  printf("user_start: mounting %s filesystem at target=%s with source=%s\n",
+  printf("mount_main: mounting %s filesystem at target=%s with source=%s\n",
          g_filesystemtype, g_target, g_source);
 
   ret = mount(g_source, g_target, g_filesystemtype, 0, NULL);
-  printf("user_start: mount() returned %d\n", ret);
+  printf("mount_main: mount() returned %d\n", ret);
 
   if (ret == 0)
     {
@@ -737,16 +737,16 @@ int user_start(int argc, char *argv[])
 
       /* Unmount the file system */
 
-      printf("user_start: Try unmount(%s)\n", g_target);
+      printf("mount_main: Try unmount(%s)\n", g_target);
 
       ret = umount(g_target);
       if (ret != 0)
         {
-          printf("user_start: ERROR umount() failed, errno %d\n", errno);
+          printf("mount_main: ERROR umount() failed, errno %d\n", errno);
           g_nerrors++;
         }
 
-      printf("user_start: %d errors reported\n", g_nerrors);
+      printf("mount_main: %d errors reported\n", g_nerrors);
     }
 
   fflush(stdout);
diff --git a/apps/examples/nsh/nsh_main.c b/apps/examples/nsh/nsh_main.c
index c5b671ab1..97792cb2a 100644
--- a/apps/examples/nsh/nsh_main.c
+++ b/apps/examples/nsh/nsh_main.c
@@ -84,10 +84,10 @@
  ****************************************************************************/
 
 /****************************************************************************
- * Name: user_start
+ * Name: nsh_main
  ****************************************************************************/
 
-int user_start(int argc, char *argv[])
+int nsh_main(int argc, char *argv[])
 {
   int exitval = 0;
   int ret;
diff --git a/apps/examples/null/null_main.c b/apps/examples/null/null_main.c
index 10fc1bf1e..63a14fcac 100644
--- a/apps/examples/null/null_main.c
+++ b/apps/examples/null/null_main.c
@@ -58,10 +58,10 @@
  ****************************************************************************/
 
 /****************************************************************************
- * Name: user_start
+ * Name: null_main
  ****************************************************************************/
 
-int user_start(int argc, char *argv[])
+int null_main(int argc, char *argv[])
 {
   return 0;
 }
diff --git a/apps/examples/ostest/main.c b/apps/examples/ostest/main.c
index 7d63c0ff4..61a2af19a 100644
--- a/apps/examples/ostest/main.c
+++ b/apps/examples/ostest/main.c
@@ -409,7 +409,7 @@ static int user_main(int argc, char *argv[])
       check_test_memory_usage();
 #endif /* CONFIG_PRIORITY_INHERITANCE && !CONFIG_DISABLE_SIGNALS && !CONFIG_DISABLE_PTHREAD */
 
-      /* Compare memory usage at time user_start started until
+      /* Compare memory usage at time ostest_main started until
        * user_main exits.  These should not be identical, but should
        * be similar enough that we can detect any serious OS memory
        * leaks.
@@ -458,18 +458,10 @@ static void stdio_test(void)
  ****************************************************************************/
 
 /****************************************************************************
- * user_start/ostest_main
+ * ostest_main
  ****************************************************************************/
 
-#ifdef CONFIG_EXAMPLES_OSTEST_BUILTIN
-#  define MAIN_NAME   ostest_main
-#  define MAIN_STRING "ostest_main: "
-#else
-#  define MAIN_NAME   user_start
-#  define MAIN_STRING "user_start: "
-#endif
-
-int MAIN_NAME(int argc, char *argv[])
+int ostest_main(int argc, char *argv[])
 {
   int result;
 
@@ -492,19 +484,19 @@ int MAIN_NAME(int argc, char *argv[])
   /* Set up some environment variables */
 
 #ifndef CONFIG_DISABLE_ENVIRON
-  printf(MAIN_STRING "putenv(%s)\n", g_putenv_value);
+  printf("ostest_main: putenv(%s)\n", g_putenv_value);
   putenv(g_putenv_value);                   /* Varaible1=BadValue3 */
-  printf(MAIN_STRING "setenv(%s, %s, TRUE)\n", g_var1_name, g_var1_value);
+  printf("ostest_main: setenv(%s, %s, TRUE)\n", g_var1_name, g_var1_value);
   setenv(g_var1_name, g_var1_value, TRUE);  /* Variable1=GoodValue1 */
 
-  printf(MAIN_STRING "setenv(%s, %s, FALSE)\n", g_var2_name, g_bad_value1);
+  printf("ostest_main: setenv(%s, %s, FALSE)\n", g_var2_name, g_bad_value1);
   setenv(g_var2_name, g_bad_value1, FALSE); /* Variable2=BadValue1 */
-  printf(MAIN_STRING "setenv(%s, %s, TRUE)\n", g_var2_name, g_var2_value);
+  printf("ostest_main: setenv(%s, %s, TRUE)\n", g_var2_name, g_var2_value);
   setenv(g_var2_name, g_var2_value, TRUE);  /* Variable2=GoodValue2 */
 
-  printf(MAIN_STRING "setenv(%s, %s, FALSE)\n", g_var3_name, g_var3_name);
+  printf("ostest_main: setenv(%s, %s, FALSE)\n", g_var3_name, g_var3_name);
   setenv(g_var3_name, g_var3_value, FALSE); /* Variable3=GoodValue3 */
-  printf(MAIN_STRING "setenv(%s, %s, FALSE)\n", g_var3_name, g_var3_name);
+  printf("ostest_main: setenv(%s, %s, FALSE)\n", g_var3_name, g_var3_name);
   setenv(g_var3_name, g_bad_value2, FALSE); /* Variable3=GoodValue3 */
   show_environment(true, true, true);
 #endif
@@ -518,13 +510,13 @@ int MAIN_NAME(int argc, char *argv[])
 #endif
   if (result == ERROR)
     {
-      printf(MAIN_STRING "ERROR Failed to start user_main\n");
+      printf("ostest_main: ERROR Failed to start user_main\n");
     }
   else
     {
-      printf(MAIN_STRING "Started user_main at PID=%d\n", result);
+      printf("ostest_main: Started user_main at PID=%d\n", result);
     }
 
-  printf(MAIN_STRING "Exitting\n");
+  printf("ostest_main: Exitting\n");
   return 0;
 }
diff --git a/apps/examples/pipe/pipe_main.c b/apps/examples/pipe/pipe_main.c
index 1f0f73032..406832a98 100644
--- a/apps/examples/pipe/pipe_main.c
+++ b/apps/examples/pipe/pipe_main.c
@@ -69,21 +69,21 @@
  ****************************************************************************/
 
 /****************************************************************************
- * Name: user_start
+ * Name: pipe_main
  ****************************************************************************/
 
-int user_start(int argc, char *argv[])
+int pipe_main(int argc, char *argv[])
 {
   int filedes[2];
   int ret;
 
   /* Test FIFO logic */
 
-  printf("\nuser_start: Performing FIFO test\n");
+  printf("\npipe_main: Performing FIFO test\n");
   ret = mkfifo(FIFO_PATH1, 0666);
   if (ret < 0)
     {
-      fprintf(stderr, "user_start: mkfifo failed with errno=%d\n", errno);
+      fprintf(stderr, "pipe_main: mkfifo failed with errno=%d\n", errno);
       return 1;
     }
 
@@ -96,7 +96,7 @@ int user_start(int argc, char *argv[])
   filedes[1] = open(FIFO_PATH1, O_WRONLY);
   if (filedes[1] < 0)
     {
-      fprintf(stderr, "user_start: Failed to open FIFO %s for writing, errno=%d\n",
+      fprintf(stderr, "pipe_main: Failed to open FIFO %s for writing, errno=%d\n",
               FIFO_PATH1, errno);
       return 2;
     }
@@ -104,11 +104,11 @@ int user_start(int argc, char *argv[])
   filedes[0] = open(FIFO_PATH1, O_RDONLY);
   if (filedes[0] < 0)
     {
-      fprintf(stderr, "user_start: Failed to open FIFO %s for reading, errno=%d\n",
+      fprintf(stderr, "pipe_main: Failed to open FIFO %s for reading, errno=%d\n",
               FIFO_PATH1, errno);
       if (close(filedes[1]) != 0)
         {
-          fprintf(stderr, "user_start: close failed: %d\n", errno);
+          fprintf(stderr, "pipe_main: close failed: %d\n", errno);
         }
       return 3;
     }
@@ -118,28 +118,28 @@ int user_start(int argc, char *argv[])
   ret = transfer_test(filedes[0], filedes[1]);
   if (close(filedes[0]) != 0)
     {
-      fprintf(stderr, "user_start: close failed: %d\n", errno);
+      fprintf(stderr, "pipe_main: close failed: %d\n", errno);
     }
   if (close(filedes[1]) != 0)
     {
-      fprintf(stderr, "user_start: close failed: %d\n", errno);
+      fprintf(stderr, "pipe_main: close failed: %d\n", errno);
     }
   /* unlink(FIFO_PATH1); fails */
 
   if (ret != 0)
     {
-      fprintf(stderr, "user_start: FIFO test FAILED (%d)\n", ret);
+      fprintf(stderr, "pipe_main: FIFO test FAILED (%d)\n", ret);
       return 4;
     }
-  printf("user_start: FIFO test PASSED\n");
+  printf("pipe_main: FIFO test PASSED\n");
 
   /* Test PIPE logic */
 
-  printf("\nuser_start: Performing pipe test\n");
+  printf("\npipe_main: Performing pipe test\n");
   ret = pipe(filedes);
   if (ret < 0)
     {
-      fprintf(stderr, "user_start: pipe failed with errno=%d\n", errno);
+      fprintf(stderr, "pipe_main: pipe failed with errno=%d\n", errno);
       return 5;
     }
 
@@ -148,41 +148,41 @@ int user_start(int argc, char *argv[])
   ret = transfer_test(filedes[0], filedes[1]);
   if (close(filedes[0]) != 0)
     {
-      fprintf(stderr, "user_start: close failed: %d\n", errno);
+      fprintf(stderr, "pipe_main: close failed: %d\n", errno);
     }
   if (close(filedes[1]) != 0)
     {
-      fprintf(stderr, "user_start: close failed: %d\n", errno);
+      fprintf(stderr, "pipe_main: close failed: %d\n", errno);
     }
 
   if (ret != 0)
     {
-      fprintf(stderr, "user_start: PIPE test FAILED (%d)\n", ret);
+      fprintf(stderr, "pipe_main: PIPE test FAILED (%d)\n", ret);
       return 6;
     }
-  printf("user_start: PIPE test PASSED\n");
+  printf("pipe_main: PIPE test PASSED\n");
 
   /* Perform the FIFO interlock test */
 
-  printf("\nuser_start: Performing pipe interlock test\n");
+  printf("\npipe_main: Performing pipe interlock test\n");
   ret = interlock_test();
   if (ret != 0)
     {
-      fprintf(stderr, "user_start: FIFO interlock test FAILED (%d)\n", ret);
+      fprintf(stderr, "pipe_main: FIFO interlock test FAILED (%d)\n", ret);
       return 7;
     }
-  printf("user_start: PIPE interlock test PASSED\n");
+  printf("pipe_main: PIPE interlock test PASSED\n");
 
   /* Perform the pipe redirection test */
 
-  printf("\nuser_start: Performing redirection test\n");
+  printf("\npipe_main: Performing redirection test\n");
   ret = redirection_test();
   if (ret != 0)
     {
-      fprintf(stderr, "user_start: FIFO redirection test FAILED (%d)\n", ret);
+      fprintf(stderr, "pipe_main: FIFO redirection test FAILED (%d)\n", ret);
       return 7;
     }
-  printf("user_start: PIPE redirection test PASSED\n");
+  printf("pipe_main: PIPE redirection test PASSED\n");
 
   fflush(stdout);
   return 0;
diff --git a/apps/examples/pipe/redirect_test.c b/apps/examples/pipe/redirect_test.c
index 45e86c356..db7c0b99a 100644
--- a/apps/examples/pipe/redirect_test.c
+++ b/apps/examples/pipe/redirect_test.c
@@ -301,16 +301,16 @@ int redirection_test(void)
 
   if (close(filedes[0]) != 0)
     {
-      fprintf(stderr, "user_start: close failed: %d\n", errno);
+      fprintf(stderr, "pipe_main: close failed: %d\n", errno);
     }
   if (close(filedes[1]) != 0)
     {
-      fprintf(stderr, "user_start: close failed: %d\n", errno);
+      fprintf(stderr, "pipe_main: close failed: %d\n", errno);
     }
 
   if (ret != 0)
     {
-      fprintf(stderr, "user_start: PIPE test FAILED (%d)\n", ret);
+      fprintf(stderr, "pipe_main: PIPE test FAILED (%d)\n", ret);
       return 6;
     }
 
diff --git a/apps/examples/poll/poll_main.c b/apps/examples/poll/poll_main.c
index 3db0150e7..9c3a096cb 100644
--- a/apps/examples/poll/poll_main.c
+++ b/apps/examples/poll/poll_main.c
@@ -74,10 +74,10 @@
  ****************************************************************************/
 
 /****************************************************************************
- * Name: user_start
+ * Name: poll_main
  ****************************************************************************/
 
-int user_start(int argc, char *argv[])
+int poll_main(int argc, char *argv[])
 {
   char buffer[64];
   ssize_t nbytes;
@@ -94,20 +94,20 @@ int user_start(int argc, char *argv[])
 
   /* Open FIFOs */
 
-  message("\nuser_start: Creating FIFO %s\n", FIFO_PATH1);
+  message("\npoll_main: Creating FIFO %s\n", FIFO_PATH1);
   ret = mkfifo(FIFO_PATH1, 0666);
   if (ret < 0)
     {
-      message("user_start: mkfifo failed: %d\n", errno);
+      message("poll_main: mkfifo failed: %d\n", errno);
       exitcode = 1;
       goto errout;
     }
 
-  message("\nuser_start: Creating FIFO %s\n", FIFO_PATH2);
+  message("\npoll_main: Creating FIFO %s\n", FIFO_PATH2);
   ret = mkfifo(FIFO_PATH2, 0666);
   if (ret < 0)
     {
-      message("user_start: mkfifo failed: %d\n", errno);
+      message("poll_main: mkfifo failed: %d\n", errno);
       exitcode = 2;
       goto errout;
     }
@@ -117,7 +117,7 @@ int user_start(int argc, char *argv[])
   fd1 = open(FIFO_PATH1, O_WRONLY);
   if (fd1 < 0)
     {
-      message("user_start: Failed to open FIFO %s for writing, errno=%d\n",
+      message("poll_main: Failed to open FIFO %s for writing, errno=%d\n",
               FIFO_PATH1, errno);
       exitcode = 3;
       goto errout;
@@ -126,7 +126,7 @@ int user_start(int argc, char *argv[])
   fd2 = open(FIFO_PATH2, O_WRONLY);
   if (fd2 < 0)
     {
-      message("user_start: Failed to open FIFO %s for writing, errno=%d\n",
+      message("poll_main: Failed to open FIFO %s for writing, errno=%d\n",
               FIFO_PATH2, errno);
       exitcode = 4;
       goto errout;
@@ -134,39 +134,39 @@ int user_start(int argc, char *argv[])
 
   /* Start the listeners */
 
-  message("user_start: Starting poll_listener thread\n");
+  message("poll_main: Starting poll_listener thread\n");
 
   ret = pthread_create(&tid1, NULL, poll_listener, NULL);
   if (ret != 0)
     {
-      message("user_start: Failed to create poll_listener thread: %d\n", ret);
+      message("poll_main: Failed to create poll_listener thread: %d\n", ret);
       exitcode = 5;
       goto errout;
     }
 
-  message("user_start: Starting select_listener thread\n");
+  message("poll_main: Starting select_listener thread\n");
 
   ret = pthread_create(&tid2, NULL, select_listener, NULL);
   if (ret != 0)
     {
-      message("user_start: Failed to create select_listener thread: %d\n", ret);
+      message("poll_main: Failed to create select_listener thread: %d\n", ret);
       exitcode = 6;
       goto errout;
     }
 
 #ifdef HAVE_NETPOLL
 #ifdef CONFIG_NET_TCPBACKLOG
-  message("user_start: Starting net_listener thread\n");
+  message("poll_main: Starting net_listener thread\n");
 
   ret = pthread_create(&tid3, NULL, net_listener, NULL);
 #else
-  message("user_start: Starting net_reader thread\n");
+  message("poll_main: Starting net_reader thread\n");
 
   ret = pthread_create(&tid3, NULL, net_reader, NULL);
 #endif
   if (ret != 0)
     {
-      message("user_start: Failed to create net_listener thread: %d\n", ret);
+      message("poll_main: Failed to create net_listener thread: %d\n", ret);
     }
 #endif
 
@@ -182,7 +182,7 @@ int user_start(int argc, char *argv[])
       nbytes = write(fd1, buffer, strlen(buffer));
       if (nbytes < 0)
         {
-          message("user_start: Write to fd1 failed: %d\n", errno);
+          message("poll_main: Write to fd1 failed: %d\n", errno);
           exitcode = 7;
           goto errout;
         }
@@ -190,12 +190,12 @@ int user_start(int argc, char *argv[])
       nbytes = write(fd2, buffer, strlen(buffer));
       if (nbytes < 0)
         {
-          message("user_start: Write fd2 failed: %d\n", errno);
+          message("poll_main: Write fd2 failed: %d\n", errno);
           exitcode = 8;
           goto errout;
         }
 
-      message("\nuser_start: Sent '%s' (%d bytes)\n", buffer, nbytes);
+      message("\npoll_main: Sent '%s' (%d bytes)\n", buffer, nbytes);
       msgflush();
 
       /* Wait awhile.  This delay should be long enough that the
diff --git a/apps/examples/pwm/pwm_main.c b/apps/examples/pwm/pwm_main.c
index 64c5dfb2c..775bdba6b 100644
--- a/apps/examples/pwm/pwm_main.c
+++ b/apps/examples/pwm/pwm_main.c
@@ -269,7 +269,7 @@ static void parse_args(FAR struct pwm_state_s *pwm, int argc, FAR char **argv)
  ****************************************************************************/
 
 /****************************************************************************
- * Name: user_start/pwm_main
+ * Name: pwm_main
  ****************************************************************************/
 
 int pwm_main(int argc, char *argv[])
diff --git a/apps/examples/qencoder/qe_main.c b/apps/examples/qencoder/qe_main.c
index c58a2b0ad..8c185ea1b 100644
--- a/apps/examples/qencoder/qe_main.c
+++ b/apps/examples/qencoder/qe_main.c
@@ -59,14 +59,6 @@
  * Pre-processor Definitions
  ****************************************************************************/
 
-#ifdef CONFIG_NSH_BUILTIN_APPS
-#  define MAIN_NAME   qe_main
-#  define MAIN_STRING "qe_main: "
-#else
-#  define MAIN_NAME   user_start
-#  define MAIN_STRING "user_start: "
-#endif
-
 /****************************************************************************
  * Private Types
  ****************************************************************************/
@@ -245,10 +237,10 @@ static void parse_args(int argc, FAR char **argv)
  ****************************************************************************/
 
 /****************************************************************************
- * Name: user_start/qe_main
+ * Name: qe_main
  ****************************************************************************/
 
-int MAIN_NAME(int argc, char *argv[])
+int qe_main(int argc, char *argv[])
 {
   int32_t position;
   int fd;
@@ -266,11 +258,11 @@ int MAIN_NAME(int argc, char *argv[])
        * this test.
        */
 
-      message(MAIN_STRING "Initializing external encoder(s)\n");
+      message("qe_main: Initializing external encoder(s)\n");
       ret = qe_devinit();
       if (ret != OK)
         {
-          message(MAIN_STRING "qe_devinit failed: %d\n", ret);
+          message("qe_main: qe_devinit failed: %d\n", ret);
           exitval = EXIT_FAILURE;
           goto errout;
         }
@@ -289,13 +281,13 @@ int MAIN_NAME(int argc, char *argv[])
 
   /* Open the encoder device for reading */
 
-  message(MAIN_STRING "Hardware initialized. Opening the encoder device: %s\n",
+  message("qe_main: Hardware initialized. Opening the encoder device: %s\n",
           g_qeexample.devpath);
 
   fd = open(g_qeexample.devpath, O_RDONLY);
   if (fd < 0)
     {
-      message(MAIN_STRING "open %s failed: %d\n", g_qeexample.devpath, errno);
+      message("qe_main: open %s failed: %d\n", g_qeexample.devpath, errno);
       exitval = EXIT_FAILURE;
       goto errout_with_dev;
     }
@@ -304,11 +296,11 @@ int MAIN_NAME(int argc, char *argv[])
 
   if (g_qeexample.reset)
     {
-      message(MAIN_STRING "Resetting the count...\n");
+      message("qe_main: Resetting the count...\n");
       ret = ioctl(fd, QEIOC_RESET, 0);
       if (ret < 0)
         {
-          message(MAIN_STRING "ioctl(QEIOC_RESET) failed: %d\n", errno);
+          message("qe_main: ioctl(QEIOC_RESET) failed: %d\n", errno);
           exitval = EXIT_FAILURE;
           goto errout_with_dev;
         }
@@ -319,10 +311,10 @@ int MAIN_NAME(int argc, char *argv[])
    */
 
 #if defined(CONFIG_NSH_BUILTIN_APPS)
-  message(MAIN_STRING "Number of samples: %d\n", g_qeexample.nloops);
+  message("qe_main: Number of samples: %d\n", g_qeexample.nloops);
   for (nloops = 0; nloops < g_qeexample.nloops; nloops++)
 #elif defined(CONFIG_EXAMPLES_QENCODER_NSAMPLES)
-  message(MAIN_STRING "Number of samples: %d\n", CONFIG_EXAMPLES_QENCODER_NSAMPLES);
+  message("qe_main: Number of samples: %d\n", CONFIG_EXAMPLES_QENCODER_NSAMPLES);
   for (nloops = 0; nloops < CONFIG_EXAMPLES_QENCODER_NSAMPLES; nloops++)
 #else
   for (;;)
@@ -339,7 +331,7 @@ int MAIN_NAME(int argc, char *argv[])
       ret = ioctl(fd, QEIOC_POSITION, (unsigned long)((uintptr_t)&position));
       if (ret < 0)
         {
-          message(MAIN_STRING "ioctl(QEIOC_POSITION) failed: %d\n", errno);
+          message("qe_main: ioctl(QEIOC_POSITION) failed: %d\n", errno);
           exitval = EXIT_FAILURE;
           goto errout_with_dev;
         }
@@ -348,7 +340,7 @@ int MAIN_NAME(int argc, char *argv[])
 
       else
         {
-          message(MAIN_STRING "%3d. %d\n", nloops+1, position);
+          message("qe_main: %3d. %d\n", nloops+1, position);
         }
 
       /* Delay a little bit */
diff --git a/apps/examples/romfs/romfs_main.c b/apps/examples/romfs/romfs_main.c
index 32b3d2654..4870ff4f8 100644
--- a/apps/examples/romfs/romfs_main.c
+++ b/apps/examples/romfs/romfs_main.c
@@ -452,10 +452,10 @@ static void checkdirectories(struct node_s *entry)
  ****************************************************************************/
 
 /****************************************************************************
- * Name: user_start
+ * Name: romfs_main
  ****************************************************************************/
 
-int user_start(int argc, char *argv[])
+int romfs_main(int argc, char *argv[])
 {
    int  ret;
 
diff --git a/apps/examples/serloop/main.c b/apps/examples/serloop/main.c
index 3c635fe88..f0e3ac238 100644
--- a/apps/examples/serloop/main.c
+++ b/apps/examples/serloop/main.c
@@ -56,10 +56,10 @@
  ****************************************************************************/
 
 /****************************************************************************
- * user_start
+ * serloop_main
  ****************************************************************************/
 
-int user_start(int argc, char *argv[])
+int serloop_main(int argc, char *argv[])
 {
 #ifdef CONFIG_EXAMPLES_SERLOOP_BUFIO
   int ch;
diff --git a/apps/examples/watchdog/watchdog_main.c b/apps/examples/watchdog/watchdog_main.c
index c1341e0fb..53099d21a 100644
--- a/apps/examples/watchdog/watchdog_main.c
+++ b/apps/examples/watchdog/watchdog_main.c
@@ -217,7 +217,7 @@ static void parse_args(FAR struct wdog_example_s *wdog, int argc, FAR char **arg
  ****************************************************************************/
 
 /****************************************************************************
- * Name: user_start/wdog_main
+ * Name: wdog_main
  ****************************************************************************/
 
 int wdog_main(int argc, char *argv[])
diff --git a/apps/interpreters/README.txt b/apps/interpreters/README.txt
index 8cf7ce321..f33c75df1 100644
--- a/apps/interpreters/README.txt
+++ b/apps/interpreters/README.txt
@@ -58,7 +58,7 @@ pcode
     Pascal P-Code at runtime.  To use this example, place the following in
     your appconfig file"
 
-      # Path to example in apps/examples containing the user_start entry point
+      # Path to example in apps/examples containing the passhello_main entry point
 
       CONFIGURED_APPS += examples/pashello
 
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index 674efe4e7..ef0eab130 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -62,7 +62,6 @@
 #include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/rc_channels.h>
 #include <uORB/topics/ardrone_control.h>
-#include <uORB/topics/fixedwing_control.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/vehicle_global_position.h>
@@ -74,6 +73,7 @@
 #include <uORB/topics/vehicle_attitude_setpoint.h>
 #include <uORB/topics/optical_flow.h>
 #include <uORB/topics/actuator_outputs.h>
+#include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/manual_control_setpoint.h>
 #include <systemlib/param/param.h>
 
@@ -126,16 +126,15 @@ static struct vehicle_attitude_s hil_attitude;
 
 static struct vehicle_global_position_s hil_global_pos;
 
-static struct fixedwing_control_s fw_control;
-
 static struct ardrone_motors_setpoint_s ardrone_motors;
 
 static struct vehicle_command_s vcmd;
 
+static struct actuator_armed_s armed;
+
 static orb_advert_t pub_hil_global_pos = -1;
 static orb_advert_t ardrone_motors_pub = -1;
 static orb_advert_t cmd_pub = -1;
-static int local_pos_sub = -1;
 static orb_advert_t flow_pub = -1;
 static orb_advert_t global_position_setpoint_pub = -1;
 static orb_advert_t local_position_setpoint_pub = -1;
@@ -143,6 +142,8 @@ static bool mavlink_hil_enabled = false;
 
 static char mavlink_message_string[51] = {0};
 
+static int baudrate = 57600;
+
 /* interface mode */
 static enum {
 	MAVLINK_INTERFACE_MODE_OFFBOARD,
@@ -159,6 +160,12 @@ static struct mavlink_subscriptions {
 	int act_3_sub;
 	int gps_sub;
 	int man_control_sp_sub;
+	int armed_sub;
+	int actuators_sub;
+	int local_pos_sub;
+	int spa_sub;
+	int spl_sub;
+	int spg_sub;
 	bool initialized;
 } mavlink_subs = {
 	.sensor_sub = 0,
@@ -170,6 +177,12 @@ static struct mavlink_subscriptions {
 	.act_3_sub = 0,
 	.gps_sub = 0,
 	.man_control_sp_sub = 0,
+	.armed_sub = 0,
+	.actuators_sub = 0,
+	.local_pos_sub = 0,
+	.spa_sub = 0,
+	.spl_sub = 0,
+	.spg_sub = 0,
 	.initialized = false
 };
 
@@ -192,7 +205,7 @@ int set_hil_on_off(bool hil_enabled);
 /**
  * Translate the custom state into standard mavlink modes and state.
  */
-void get_mavlink_mode_and_state(const struct vehicle_status_s *c_status, uint8_t *mavlink_state, uint8_t *mavlink_mode);
+void get_mavlink_mode_and_state(const struct vehicle_status_s *c_status, const struct actuator_armed_s *actuator, uint8_t *mavlink_state, uint8_t *mavlink_mode);
 
 int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb);
 
@@ -345,16 +358,34 @@ int set_hil_on_off(bool hil_enabled)
 		printf("\n pub_hil_attitude :%i\n", pub_hil_attitude);
 		printf("\n pub_hil_global_pos :%i\n", pub_hil_global_pos);
 
-		if (pub_hil_attitude > 0 && pub_hil_global_pos > 0) {
-			mavlink_hil_enabled = true;
-
+		mavlink_hil_enabled = true;
+
+		/* ramp up some HIL-related subscriptions */
+		unsigned hil_rate_interval;
+
+		if (baudrate < 19200) {
+			/* 10 Hz */
+			hil_rate_interval = 100;
+		} else if (baudrate < 38400) {
+			/* 10 Hz */
+			hil_rate_interval = 100;
+		} else if (baudrate < 115200) {
+			/* 20 Hz */
+			hil_rate_interval = 50;
+		} else if (baudrate < 460800) {
+			/* 50 Hz */
+			hil_rate_interval = 20;
 		} else {
-			ret = ERROR;
+			/* 100 Hz */
+			hil_rate_interval = 10;
 		}
+
+		orb_set_interval(mavlink_subs.spa_sub, hil_rate_interval);
 	}
 
 	if (!hil_enabled && mavlink_hil_enabled) {
 		mavlink_hil_enabled = false;
+		orb_set_interval(mavlink_subs.spa_sub, 200);
 		(void)close(pub_hil_attitude);
 		(void)close(pub_hil_global_pos);
 
@@ -365,7 +396,7 @@ int set_hil_on_off(bool hil_enabled)
 	return ret;
 }
 
-void get_mavlink_mode_and_state(const struct vehicle_status_s *c_status, uint8_t *mavlink_state, uint8_t *mavlink_mode)
+void get_mavlink_mode_and_state(const struct vehicle_status_s *c_status, const struct actuator_armed_s *actuator, uint8_t *mavlink_state, uint8_t *mavlink_mode)
 {
 	/* reset MAVLink mode bitfield */
 	*mavlink_mode = 0;
@@ -375,70 +406,65 @@ void get_mavlink_mode_and_state(const struct vehicle_status_s *c_status, uint8_t
 		*mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
 	}
 
+	/* set arming state */
+	if (actuator->armed) {
+		*mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
+	} else {
+		*mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
+	}
+
 	switch (c_status->state_machine) {
 	case SYSTEM_STATE_PREFLIGHT:
 		if (c_status->flag_preflight_gyro_calibration ||
 		    c_status->flag_preflight_mag_calibration ||
 		    c_status->flag_preflight_accel_calibration) {
 			*mavlink_state = MAV_STATE_CALIBRATING;
-			*mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
 		} else {
 			*mavlink_state = MAV_STATE_UNINIT;
-			*mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
 		}
 		break;
 
 	case SYSTEM_STATE_STANDBY:
 		*mavlink_state = MAV_STATE_STANDBY;
-		*mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
 		break;
 
 	case SYSTEM_STATE_GROUND_READY:
 		*mavlink_state = MAV_STATE_ACTIVE;
-		*mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
 		break;
 
 	case SYSTEM_STATE_MANUAL:
 		*mavlink_state = MAV_STATE_ACTIVE;
-		*mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
 		*mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
 		break;
 
 	case SYSTEM_STATE_STABILIZED:
 		*mavlink_state = MAV_STATE_ACTIVE;
-		*mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
 		*mavlink_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED;
 		break;
 
 	case SYSTEM_STATE_AUTO:
 		*mavlink_state = MAV_STATE_ACTIVE;
-		*mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
 		*mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
 		break;
 
 	case SYSTEM_STATE_MISSION_ABORT:
 		*mavlink_state = MAV_STATE_EMERGENCY;
-		*mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
 		break;
 
 	case SYSTEM_STATE_EMCY_LANDING:
 		*mavlink_state = MAV_STATE_EMERGENCY;
-		*mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
 		break;
 
 	case SYSTEM_STATE_EMCY_CUTOFF:
 		*mavlink_state = MAV_STATE_EMERGENCY;
-		*mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
 		break;
 
 	case SYSTEM_STATE_GROUND_ERROR:
 		*mavlink_state = MAV_STATE_EMERGENCY;
-		*mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
 		break;
 
 	case SYSTEM_STATE_REBOOT:
 		*mavlink_state = MAV_STATE_POWEROFF;
-		*mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
 		break;
 	}
 
@@ -495,6 +521,10 @@ static int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int ma
 			/* senser sub triggers scaled IMU */
 			if (subs->sensor_sub) orb_set_interval(subs->sensor_sub, min_interval);
 			break;
+		case MAVLINK_MSG_ID_HIGHRES_IMU:
+			/* senser sub triggers highres IMU */
+			if (subs->sensor_sub) orb_set_interval(subs->sensor_sub, min_interval);
+			break;
 		case MAVLINK_MSG_ID_RAW_IMU:
 			/* senser sub triggers RAW IMU */
 			if (subs->sensor_sub) orb_set_interval(subs->sensor_sub, min_interval);
@@ -557,6 +587,7 @@ static void *uorb_receiveloop(void *arg)
 		struct vehicle_attitude_setpoint_s att_sp;
 		struct actuator_outputs_s act_outputs;
 		struct manual_control_setpoint_s man_control;
+		struct actuator_controls_s actuators;
 	} buf;
 
 	/* --- SENSORS RAW VALUE --- */
@@ -582,14 +613,6 @@ static void *uorb_receiveloop(void *arg)
 	fds[fdsc_count].events = POLLIN;
 	fdsc_count++;
 
-	// /* --- ARDRONE CONTROL --- */
-	// /* subscribe to ORB for AR.Drone controller outputs */
-	// int ar_sub = orb_subscribe(ORB_ID(ardrone_control));
-	// orb_set_interval(ar_sub, 200);		/* 5Hz updates */
-	// fds[fdsc_count].fd = ar_sub;
-	// fds[fdsc_count].events = POLLIN;
-	// fdsc_count++;
-
 	/* --- SYSTEM STATE --- */
 	/* struct already globally allocated */
 	/* subscribe to topic */
@@ -608,15 +631,6 @@ static void *uorb_receiveloop(void *arg)
 	fds[fdsc_count].events = POLLIN;
 	fdsc_count++;
 
-	/* --- FIXED WING CONTROL VALUE --- */
-	/* struct already globally allocated */
-	/* subscribe to ORB for fixed wing control */
-	int fw_sub = orb_subscribe(ORB_ID(fixedwing_control));
-	orb_set_interval(fw_sub, 50);		/* 20 Hz updates */
-	fds[fdsc_count].fd = fw_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
 	/* --- GLOBAL POS VALUE --- */
 	/* struct already globally allocated and topic already subscribed */
 	fds[fdsc_count].fd = subs->global_pos_sub;
@@ -625,34 +639,34 @@ static void *uorb_receiveloop(void *arg)
 
 	/* --- LOCAL POS VALUE --- */
 	/* struct and topic already globally subscribed */
-	fds[fdsc_count].fd = local_pos_sub;
+	fds[fdsc_count].fd = subs->local_pos_sub;
 	fds[fdsc_count].events = POLLIN;
 	fdsc_count++;
 
 	/* --- GLOBAL SETPOINT VALUE --- */
 	/* subscribe to ORB for local setpoint */
 	/* struct already allocated */
-	int spg_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
-	orb_set_interval(spg_sub, 2000);	/* 0.5 Hz updates */
-	fds[fdsc_count].fd = spg_sub;
+	subs->spg_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
+	orb_set_interval(subs->spg_sub, 2000);	/* 0.5 Hz updates */
+	fds[fdsc_count].fd = subs->spg_sub;
 	fds[fdsc_count].events = POLLIN;
 	fdsc_count++;
 
 	/* --- LOCAL SETPOINT VALUE --- */
 	/* subscribe to ORB for local setpoint */
 	/* struct already allocated */
-	int spl_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
-	orb_set_interval(spl_sub, 2000);	/* 0.5 Hz updates */
-	fds[fdsc_count].fd = spl_sub;
+	subs->spl_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
+	orb_set_interval(subs->spl_sub, 2000);	/* 0.5 Hz updates */
+	fds[fdsc_count].fd = subs->spl_sub;
 	fds[fdsc_count].events = POLLIN;
 	fdsc_count++;
 
 	/* --- ATTITUDE SETPOINT VALUE --- */
 	/* subscribe to ORB for attitude setpoint */
 	/* struct already allocated */
-	int spa_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
-	orb_set_interval(spa_sub, 2000);	/* 0.5 Hz updates */
-	fds[fdsc_count].fd = spa_sub;
+	subs->spa_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
+	orb_set_interval(subs->spa_sub, 2000);	/* 0.5 Hz updates */
+	fds[fdsc_count].fd = subs->spa_sub;
 	fds[fdsc_count].events = POLLIN;
 	fdsc_count++;
 
@@ -680,6 +694,21 @@ static void *uorb_receiveloop(void *arg)
 	fds[fdsc_count].events = POLLIN;
 	fdsc_count++;
 
+	/* --- ACTUATOR ARMED VALUE --- */
+	/* subscribe to ORB for actuator armed */
+	subs->armed_sub = orb_subscribe(ORB_ID(actuator_armed));
+	fds[fdsc_count].fd = subs->armed_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
+	/* --- ACTUATOR CONTROL VALUE --- */
+	/* subscribe to ORB for actuator control */
+	subs->actuators_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
+	orb_set_interval(subs->actuators_sub, 2000);	/* 0.5 Hz updates */
+	fds[fdsc_count].fd = subs->actuators_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
 	/* all subscriptions initialized, return success */
 	subs->initialized = true;
 
@@ -724,9 +753,18 @@ static void *uorb_receiveloop(void *arg)
 				/* send raw imu data */
 				mavlink_msg_raw_imu_send(MAVLINK_COMM_0, buf.raw.timestamp, buf.raw.accelerometer_raw[0], buf.raw.accelerometer_raw[1], buf.raw.accelerometer_raw[2], buf.raw.gyro_raw[0], buf.raw.gyro_raw[1], buf.raw.gyro_raw[2], buf.raw.magnetometer_raw[0], buf.raw.magnetometer_raw[1], buf.raw.magnetometer_raw[2]);
 				/* send scaled imu data (m/s^2 accelerations scaled back to milli-g) */
-				mavlink_msg_scaled_imu_send(MAVLINK_COMM_0, buf.raw.timestamp, buf.raw.accelerometer_m_s2[0] * 101.936799f, buf.raw.accelerometer_m_s2[1] * 101.936799f, buf.raw.accelerometer_m_s2[2] * 101.936799f, buf.raw.gyro_rad_s[0] * 1000, buf.raw.gyro_rad_s[1] * 1000, buf.raw.gyro_rad_s[2] * 1000, buf.raw.magnetometer_ga[0] * 1000, buf.raw.magnetometer_ga[1] * 1000, buf.raw.magnetometer_ga[2] * 1000);
+				//mavlink_msg_scaled_imu_send(MAVLINK_COMM_0, buf.raw.timestamp, buf.raw.accelerometer_m_s2[0] * 101.936799f, buf.raw.accelerometer_m_s2[1] * 101.936799f, buf.raw.accelerometer_m_s2[2] * 101.936799f, buf.raw.gyro_rad_s[0] * 1000, buf.raw.gyro_rad_s[1] * 1000, buf.raw.gyro_rad_s[2] * 1000, buf.raw.magnetometer_ga[0] * 1000, buf.raw.magnetometer_ga[1] * 1000, buf.raw.magnetometer_ga[2] * 1000);
+				/* send scaled imu data */
+				mavlink_msg_highres_imu_send(MAVLINK_COMM_0, buf.raw.timestamp,
+					buf.raw.accelerometer_m_s2[0], buf.raw.accelerometer_m_s2[1],
+					buf.raw.accelerometer_m_s2[2], buf.raw.gyro_rad_s[0],
+					buf.raw.gyro_rad_s[1], buf.raw.gyro_rad_s[2],
+					buf.raw.magnetometer_ga[0],
+					buf.raw.magnetometer_ga[1],buf.raw.magnetometer_ga[2],
+					buf.raw.baro_pres_mbar, 0 /* no diff pressure yet */,
+					buf.raw.baro_alt_meter, buf.raw.baro_temp_celcius);
 				/* send pressure */
-				mavlink_msg_scaled_pressure_send(MAVLINK_COMM_0, buf.raw.timestamp / 1000, buf.raw.baro_pres_mbar, buf.raw.baro_alt_meter, buf.raw.baro_temp_celcius * 100);
+				//mavlink_msg_scaled_pressure_send(MAVLINK_COMM_0, buf.raw.timestamp / 1000, buf.raw.baro_pres_mbar, buf.raw.baro_alt_meter, buf.raw.baro_temp_celcius * 100);
 
 				sensors_raw_counter++;
 			}
@@ -781,13 +819,14 @@ static void *uorb_receiveloop(void *arg)
 			if (fds[ifds++].revents & POLLIN) {
 				/* immediately communicate state changes back to user */
 				orb_copy(ORB_ID(vehicle_status), status_sub, &v_status);
+				orb_copy(ORB_ID(actuator_armed), mavlink_subs.armed_sub, &armed);
 				/* enable or disable HIL */
 				set_hil_on_off(v_status.flag_hil_enabled);
 
 				/* translate the current syste state to mavlink state and mode */
 				uint8_t mavlink_state = 0;
 				uint8_t mavlink_mode = 0;
-				get_mavlink_mode_and_state(&v_status, &mavlink_state, &mavlink_mode);
+				get_mavlink_mode_and_state(&v_status, &armed, &mavlink_state, &mavlink_mode);
 
 				/* send heartbeat */
 				mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_mode, v_status.state_machine, mavlink_state);
@@ -801,71 +840,6 @@ static void *uorb_receiveloop(void *arg)
 				// TODO decide where to send channels
 			}
 
-			/* --- FIXED WING CONTROL CHANNELS --- */
-			if (fds[ifds++].revents & POLLIN) {
-				/* copy fixed wing control into local buffer */
-				orb_copy(ORB_ID(fixedwing_control), fw_sub, &fw_control);
-				/* send control output via MAVLink */
-				mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(MAVLINK_COMM_0, fw_control.timestamp / 1000, fw_control.attitude_control_output[0],
-					fw_control.attitude_control_output[1], fw_control.attitude_control_output[2],
-					fw_control.attitude_control_output[3]);
-
-				/* Only send in HIL mode */
-				if (v_status.flag_hil_enabled) {
-					/* Send the desired attitude from RC or from the autonomous controller */
-					// XXX it should not depend on a RC setting, but on a system_state value
-
-					float roll_ail, pitch_elev, throttle, yaw_rudd;
-
-					if (rc.chan[rc.function[OVERRIDE]].scale < 2000) {
-
-						//orb_copy(ORB_ID(fixedwing_control), fixed_wing_control_sub, &fixed_wing_control);
-						roll_ail = fw_control.attitude_control_output[ROLL];
-						pitch_elev = fw_control.attitude_control_output[PITCH];
-						throttle = fw_control.attitude_control_output[THROTTLE];
-						yaw_rudd = fw_control.attitude_control_output[YAW];
-
-					} else {
-
-						roll_ail = rc.chan[rc.function[ROLL]].scale;
-						pitch_elev = rc.chan[rc.function[PITCH]].scale;
-						throttle = rc.chan[rc.function[THROTTLE]].scale;
-						yaw_rudd = rc.chan[rc.function[YAW]].scale;
-					}
-
-					/* hacked HIL implementation in order for the APM Planner to work
-					 * (correct cmd: mavlink_msg_hil_controls_send())
-					 */
-
-					mavlink_msg_rc_channels_scaled_send(chan,
-									    hrt_absolute_time(),
-									    0, // port 0
-									    roll_ail,
-									    pitch_elev,
-									    throttle,
-									    yaw_rudd,
-									    0,
-									    0,
-									    0,
-									    0,
-									    1 /*rssi=1*/);
-
-					/* correct command duplicate */
-					mavlink_msg_hil_controls_send(chan,
-										hrt_absolute_time(),
-										roll_ail,
-										pitch_elev,
-										yaw_rudd,
-										throttle,
-										0,
-										0,
-										0,
-										0,
-										32,	/* HIL_MODE */
-										0);
-				}
-			}
-
 			/* --- VEHICLE GLOBAL POSITION --- */
 			if (fds[ifds++].revents & POLLIN) {
 				/* copy global position data into local buffer */
@@ -881,37 +855,82 @@ static void *uorb_receiveloop(void *arg)
 				/* heading in degrees * 10, from 0 to 36.000) */
 				uint16_t hdg = (global_pos.hdg / M_PI_F) * (180.0f * 10.0f) + (180.0f * 10.0f);
 
-				mavlink_msg_global_position_int_send(MAVLINK_COMM_0, timestamp / 1000, lat, lon, alt, relative_alt, vx, vy, vz, hdg);
+				mavlink_msg_global_position_int_send(MAVLINK_COMM_0, timestamp / 1000, lat, lon, alt,
+					relative_alt, vx, vy, vz, hdg);
 			}
 
 			/* --- VEHICLE LOCAL POSITION --- */
 			if (fds[ifds++].revents & POLLIN) {
 				/* copy local position data into local buffer */
-				orb_copy(ORB_ID(vehicle_local_position), local_pos_sub, &local_pos);
-				mavlink_msg_local_position_ned_send(MAVLINK_COMM_0, local_pos.timestamp / 1000, local_pos.x, local_pos.y, local_pos.z, local_pos.vx, local_pos.vy, local_pos.vz);
+				orb_copy(ORB_ID(vehicle_local_position), subs->local_pos_sub, &local_pos);
+				mavlink_msg_local_position_ned_send(MAVLINK_COMM_0, local_pos.timestamp / 1000, local_pos.x,
+					local_pos.y, local_pos.z, local_pos.vx, local_pos.vy, local_pos.vz);
 			}
 
 			/* --- VEHICLE GLOBAL SETPOINT --- */
 			if (fds[ifds++].revents & POLLIN) {
 				/* copy local position data into local buffer */
-				orb_copy(ORB_ID(vehicle_global_position_setpoint), spg_sub, &buf.global_sp);
+				orb_copy(ORB_ID(vehicle_global_position_setpoint), subs->spg_sub, &buf.global_sp);
 				uint8_t coordinate_frame = MAV_FRAME_GLOBAL;
 				if (buf.global_sp.altitude_is_relative) coordinate_frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
-				mavlink_msg_global_position_setpoint_int_send(MAVLINK_COMM_0, coordinate_frame, buf.global_sp.lat, buf.global_sp.lon, buf.global_sp.altitude, buf.global_sp.yaw);
+				mavlink_msg_global_position_setpoint_int_send(MAVLINK_COMM_0, coordinate_frame, buf.global_sp.lat,
+					buf.global_sp.lon, buf.global_sp.altitude, buf.global_sp.yaw);
 			}
 
 			/* --- VEHICLE LOCAL SETPOINT --- */
 			if (fds[ifds++].revents & POLLIN) {
 				/* copy local position data into local buffer */
-				orb_copy(ORB_ID(vehicle_local_position_setpoint), spl_sub, &buf.local_sp);
-				mavlink_msg_local_position_setpoint_send(MAVLINK_COMM_0, MAV_FRAME_LOCAL_NED, buf.local_sp.x, buf.local_sp.y, buf.local_sp.z, buf.local_sp.yaw);
+				orb_copy(ORB_ID(vehicle_local_position_setpoint), subs->spl_sub, &buf.local_sp);
+				mavlink_msg_local_position_setpoint_send(MAVLINK_COMM_0, MAV_FRAME_LOCAL_NED, buf.local_sp.x,
+					buf.local_sp.y, buf.local_sp.z, buf.local_sp.yaw);
 			}
 
 			/* --- VEHICLE ATTITUDE SETPOINT --- */
 			if (fds[ifds++].revents & POLLIN) {
 				/* copy local position data into local buffer */
-				orb_copy(ORB_ID(vehicle_attitude_setpoint), spa_sub, &buf.att_sp);
-				mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(MAVLINK_COMM_0, buf.att_sp.timestamp/1000, buf.att_sp.roll_body, buf.att_sp.pitch_body, buf.att_sp.yaw_body, buf.att_sp.thrust);
+				orb_copy(ORB_ID(vehicle_attitude_setpoint), subs->spa_sub, &buf.att_sp);
+				mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(MAVLINK_COMM_0, buf.att_sp.timestamp/1000,
+					buf.att_sp.roll_body, buf.att_sp.pitch_body, buf.att_sp.yaw_body, buf.att_sp.thrust);
+
+				/* Only send in HIL mode */
+				if (mavlink_hil_enabled) {
+
+					/* hacked HIL implementation in order for the APM Planner to work
+					 * (correct cmd: mavlink_msg_hil_controls_send())
+					 */
+
+					mavlink_msg_rc_channels_scaled_send(chan,
+									    hrt_absolute_time(),
+									    0, // port 0
+									    buf.att_sp.roll_body,
+									    buf.att_sp.pitch_body,
+									    buf.att_sp.thrust,
+									    buf.att_sp.yaw_body,
+									    0,
+									    0,
+									    0,
+									    0,
+									    1 /*rssi=1*/);
+
+					/* translate the current syste state to mavlink state and mode */
+					uint8_t mavlink_state = 0;
+					uint8_t mavlink_mode = 0;
+					get_mavlink_mode_and_state(&v_status, &armed, &mavlink_state, &mavlink_mode);
+
+					/* correct HIL message as per MAVLink spec */
+					mavlink_msg_hil_controls_send(chan,
+										hrt_absolute_time(),
+										buf.att_sp.roll_body,
+										buf.att_sp.pitch_body,
+										buf.att_sp.yaw_body,
+										buf.att_sp.thrust,
+										0,
+										0,
+										0,
+										0,
+										mavlink_mode,
+										0);
+				}
 			}
 
 			/* --- ACTUATOR OUTPUTS 0 --- */
@@ -1033,6 +1052,19 @@ static void *uorb_receiveloop(void *arg)
 				mavlink_msg_manual_control_send(MAVLINK_COMM_0, mavlink_system.sysid, buf.man_control.roll,
 					buf.man_control.pitch, buf.man_control.yaw, buf.man_control.throttle, 1, 1, 1, 1);
 			}
+
+			/* --- ACTUATOR ARMED --- */
+			if (fds[ifds++].revents & POLLIN) {
+			}
+
+			/* --- ACTUATOR CONTROL --- */
+			if (fds[ifds++].revents & POLLIN) {
+				orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs->actuators_sub, &buf.actuators);
+				mavlink_msg_named_value_float_send(MAVLINK_COMM_0, hrt_absolute_time() / 1000, "ctrl0", buf.actuators.control[0]);
+				mavlink_msg_named_value_float_send(MAVLINK_COMM_0, hrt_absolute_time() / 1000, "ctrl1", buf.actuators.control[1]);
+				mavlink_msg_named_value_float_send(MAVLINK_COMM_0, hrt_absolute_time() / 1000, "ctrl2", buf.actuators.control[2]);
+				mavlink_msg_named_value_float_send(MAVLINK_COMM_0, hrt_absolute_time() / 1000, "ctrl3", buf.actuators.control[3]);
+			}
 		}
 	}
 
@@ -1252,12 +1284,12 @@ void handleMessage(mavlink_message_t *msg)
 	}
 }
 
-int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb)
+int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_config_original, bool *is_usb)
 {
 	/* process baud rate */
 	int speed;
 
-	switch (baudrate) {
+	switch (baud) {
 	case 0:      speed = B0;      break;
 
 	case 50:     speed = B50;     break;
@@ -1301,12 +1333,12 @@ int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_
 	case 921600: speed = B921600; break;
 
 	default:
-		fprintf(stderr, "[mavlink] ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baudrate);
+		fprintf(stderr, "[mavlink] ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud);
 		return -EINVAL;
 	}
 
 	/* open uart */
-	printf("[mavlink] UART is %s, baudrate is %d\n", uart_name, baudrate);
+	printf("[mavlink] UART is %s, baudrate is %d\n", uart_name, baud);
 	uart = open(uart_name, O_RDWR | O_NOCTTY);
 
 	/* Try to set baud rate */
@@ -1363,7 +1395,6 @@ int mavlink_thread_main(int argc, char *argv[])
 	memset(&rc, 0, sizeof(rc));
 	memset(&hil_attitude, 0, sizeof(hil_attitude));
 	memset(&hil_global_pos, 0, sizeof(hil_global_pos));
-	memset(&fw_control, 0, sizeof(fw_control));
 	memset(&ardrone_motors, 0, sizeof(ardrone_motors));
 	memset(&vcmd, 0, sizeof(vcmd));
 
@@ -1375,7 +1406,7 @@ int mavlink_thread_main(int argc, char *argv[])
 
 	/* default values for arguments */
 	char *uart_name = "/dev/ttyS1";
-	int baudrate = 57600;
+	baudrate = 57600;
 
 	/* read program arguments */
 	int i;
@@ -1435,8 +1466,8 @@ int mavlink_thread_main(int argc, char *argv[])
 	mavlink_subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
 	orb_set_interval(mavlink_subs.global_pos_sub, 1000);	/* 1Hz active updates */
 	/* subscribe to ORB for local position */
-	local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
-	orb_set_interval(local_pos_sub, 1000);	/* 1Hz active updates */
+	mavlink_subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
+	orb_set_interval(mavlink_subs.local_pos_sub, 1000);	/* 1Hz active updates */
 
 
 	pthread_attr_t receiveloop_attr;
@@ -1467,6 +1498,7 @@ int mavlink_thread_main(int argc, char *argv[])
 		/* 500 Hz / 2 ms */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SCALED_IMU, 2);
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 2);
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 2);
 		/* 200 Hz / 5 ms */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 5);
 		/* 5 Hz */
@@ -1475,6 +1507,7 @@ int mavlink_thread_main(int argc, char *argv[])
 		/* 250 Hz / 4 ms */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SCALED_IMU, 5);
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 5);
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 5);
 		/* 50 Hz / 20 ms */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 20);
 		/* 2 Hz */
@@ -1483,6 +1516,7 @@ int mavlink_thread_main(int argc, char *argv[])
 		/* 50 Hz / 20 ms */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SCALED_IMU, 50);
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 50);
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 50);
 		/* 10 Hz / 100 ms */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 100);
 		/* 1 Hz */
@@ -1491,6 +1525,7 @@ int mavlink_thread_main(int argc, char *argv[])
 		/* 10 Hz / 100 ms */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SCALED_IMU, 100);
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 100);
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 100);
 		/* 5 Hz / 200 ms */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 200);
 		/* 0.2 Hz */
@@ -1499,6 +1534,7 @@ int mavlink_thread_main(int argc, char *argv[])
 		/* very low baud rate, limit to 1 Hz / 1000 ms */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SCALED_IMU, 1000);
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 1000);
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 1000);
 		/* 0.5 Hz */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 2000);
 		/* 0.1 Hz */
@@ -1511,7 +1547,8 @@ int mavlink_thread_main(int argc, char *argv[])
 
 		/* get local and global position */
 		orb_copy(ORB_ID(vehicle_global_position), mavlink_subs.global_pos_sub, &global_pos);
-		orb_copy(ORB_ID(vehicle_local_position), local_pos_sub, &local_pos);
+		orb_copy(ORB_ID(vehicle_local_position), mavlink_subs.local_pos_sub, &local_pos);
+		orb_copy(ORB_ID(actuator_armed), mavlink_subs.armed_sub, &armed);
 
 		/* 1 Hz */
 		if (lowspeed_counter == 10) {
@@ -1537,7 +1574,7 @@ int mavlink_thread_main(int argc, char *argv[])
 			/* translate the current syste state to mavlink state and mode */
 			uint8_t mavlink_state = 0;
 			uint8_t mavlink_mode = 0;
-			get_mavlink_mode_and_state(&v_status, &mavlink_state, &mavlink_mode);
+			get_mavlink_mode_and_state(&v_status, &armed, &mavlink_state, &mavlink_mode);
 
 			/* send heartbeat */
 			mavlink_msg_heartbeat_send(chan, system_type, MAV_AUTOPILOT_PX4, mavlink_mode, v_status.state_machine, mavlink_state);
@@ -1607,7 +1644,7 @@ exit_cleanup:
 
 	/* close subscriptions */
 	close(mavlink_subs.global_pos_sub);
-	close(local_pos_sub);
+	close(mavlink_subs.local_pos_sub);
 
 	fflush(stdout);
 	fflush(stderr);
diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c
index 9fbe4c3ca..4f5082bed 100644
--- a/apps/multirotor_att_control/multirotor_att_control_main.c
+++ b/apps/multirotor_att_control/multirotor_att_control_main.c
@@ -117,7 +117,6 @@ mc_thread_main(int argc, char *argv[])
 		actuators.control[i] = 0.0f;
 	orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
 	armed.armed = false;
-	orb_advert_t armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed);
 	orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
 
 	/* register the perf counter */
@@ -151,25 +150,13 @@ mc_thread_main(int argc, char *argv[])
 			att_sp.yaw_body = 0.0f;
 			att_sp.thrust = 0.1f;
 		} else {
-			if (state.flag_system_armed) {
-				att_sp.thrust = manual.throttle;
-				armed.armed = true;
-
-			} else if (state.state_machine == SYSTEM_STATE_EMCY_CUTOFF) {
-				/* immediately cut off motors */
-				armed.armed = false;
-
-			} else {
-				/* limit motor throttle to zero for an unknown mode */
-				armed.armed = false;
-			}
+			att_sp.thrust = manual.throttle;
 			
 		}
 
-		multirotor_control_attitude(&att_sp, &att, &state, &actuators, motor_test_mode);
+		multirotor_control_attitude(&att_sp, &att, &actuators);
 
 		/* publish the result */
-		orb_publish(ORB_ID(actuator_armed), armed_pub, &armed);
 		orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
 		orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
 
@@ -179,8 +166,6 @@ mc_thread_main(int argc, char *argv[])
 	printf("[multirotor att control] stopping, disarming motors.\n");
 
 	/* kill all outputs */
-	armed.armed = false;
-	orb_publish(ORB_ID(actuator_armed), armed_pub, &armed);
 	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
 		actuators.control[i] = 0.0f;
 	orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
@@ -190,7 +175,6 @@ mc_thread_main(int argc, char *argv[])
 	close(state_sub);
 	close(manual_sub);
 	close(actuator_pub);
-	close(armed_pub);
 	close(att_sp_pub);
 
 	perf_print_counter(mc_loop_perf);
diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/apps/multirotor_att_control/multirotor_attitude_control.c
index 2fb9ae544..c6547b199 100644
--- a/apps/multirotor_att_control/multirotor_attitude_control.c
+++ b/apps/multirotor_att_control/multirotor_attitude_control.c
@@ -188,8 +188,7 @@ static int parameters_update(const struct mc_att_control_param_handles *h, struc
 }
 
 void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
-	const struct vehicle_attitude_s *att, const struct vehicle_status_s *status,
-	struct actuator_controls_s *actuators, bool verbose)
+	const struct vehicle_attitude_s *att, struct actuator_controls_s *actuators)
 {
 	static uint64_t last_run = 0;
 	const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
@@ -218,7 +217,7 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 			PID_MODE_DERIVATIV_CALC, 155);
 		pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, p.att_awu,
 			PID_MODE_DERIVATIV_SET, 156);
-		pid_init(&roll_controller, p.att_d, p.att_i, p.att_d, p.att_awu,
+		pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, p.att_awu,
 			PID_MODE_DERIVATIV_SET, 157);
 
 		initialized = true;
diff --git a/apps/multirotor_att_control/multirotor_attitude_control.h b/apps/multirotor_att_control/multirotor_attitude_control.h
index c3caa7598..1fc00d8c1 100644
--- a/apps/multirotor_att_control/multirotor_attitude_control.h
+++ b/apps/multirotor_att_control/multirotor_attitude_control.h
@@ -54,8 +54,6 @@
 #include <uORB/topics/actuator_controls.h>
 
 void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att,
-		const struct vehicle_status_s *status, struct actuator_controls_s *actuators, bool verbose);
-
-void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls_s *actuators, bool verbose);
+	struct actuator_controls_s *actuators);
 
 #endif /* MULTIROTOR_ATTITUDE_CONTROL_H_ */
diff --git a/apps/nshlib/Kconfig b/apps/nshlib/Kconfig
index 7e419bdde..ff692f43b 100644
--- a/apps/nshlib/Kconfig
+++ b/apps/nshlib/Kconfig
@@ -148,9 +148,12 @@ config NSH_FILEIOSIZE
 config NSH_STRERROR
 	bool "Use strerror()"
 	default n
+	depends on LIBC_STRERROR
 	---help---
 		strerror(errno) makes more readable output but strerror() is
 		very large and will not be used unless this setting is 'y'
+		This setting depends upon the strerror() having been enabled
+		with LIBC_STRERROR.
 
 config NSH_LINELEN
 	int "Max command line length"
diff --git a/apps/nshlib/README.txt b/apps/nshlib/README.txt
index d8edd8969..0f6aee759 100644
--- a/apps/nshlib/README.txt
+++ b/apps/nshlib/README.txt
@@ -915,7 +915,9 @@ NSH-Specific Configuration Settings
 
   * CONFIG_NSH_STRERROR
       strerror(errno) makes more readable output but strerror() is
-      very large and will not be used unless this setting is 'y'
+      very large and will not be used unless this setting is 'y'.
+      This setting depends upon the strerror() having been enabled
+      with CONFIG_LIBC_STRERROR.
 
   * CONFIG_NSH_LINELEN
       The maximum length of one command line and of one output line.
diff --git a/apps/nshlib/nsh.h b/apps/nshlib/nsh.h
index 439c2ffd1..dac91ba05 100644
--- a/apps/nshlib/nsh.h
+++ b/apps/nshlib/nsh.h
@@ -238,9 +238,14 @@
 #define NSH_MAX_ARGUMENTS 6
 
 /* strerror() produces much nicer output but is, however, quite large and
- * will only be used if CONFIG_NSH_STRERROR is defined.
+ * will only be used if CONFIG_NSH_STRERROR is defined.  Note that the strerror
+ * interface must also have been enabled with CONFIG_LIBC_STRERROR.
  */
 
+#ifndef CONFIG_LIBC_STRERROR
+#  undef CONFIG_NSH_STRERROR
+#endif
+
 #ifdef CONFIG_NSH_STRERROR
 #  define NSH_ERRNO         strerror(errno)
 #  define NSH_ERRNO_OF(err) strerror(err)
diff --git a/apps/px4/fmu/fmu.cpp b/apps/px4/fmu/fmu.cpp
index a2d1ab0e7..dc4a0e8fb 100644
--- a/apps/px4/fmu/fmu.cpp
+++ b/apps/px4/fmu/fmu.cpp
@@ -552,7 +552,7 @@ void
 fake(int argc, char *argv[])
 {
 	if (argc < 5) {
-		puts("fmu fake <roll> <pitch> <yaw> <thrust> (values -100 - 100)");
+		puts("fmu fake <roll> <pitch> <yaw> <thrust> (values -100 .. 100)");
 		exit(1);
 	}
 
diff --git a/apps/system/i2c/i2c_main.c b/apps/system/i2c/i2c_main.c
index 2a0e5d626..fbaf677aa 100644
--- a/apps/system/i2c/i2c_main.c
+++ b/apps/system/i2c/i2c_main.c
@@ -351,15 +351,7 @@ static void i2c_teardown(FAR struct i2ctool_s *i2ctool)
  * Name: i2c_main
  ****************************************************************************/
 
-#ifdef CONFIG_I2CTOOL_BUILTIN
-#  define MAIN_NAME i2c_main
-#  define MAIN_NAME_STRING "i2c_main"
-#else
-#  define MAIN_NAME user_start
-#  define MAIN_NAME_STRING "user_start"
-#endif
-
-int MAIN_NAME(int argc, char *argv[])
+int i2c_main(int argc, char *argv[])
 {
   /* Verify settings */
 
diff --git a/apps/systemlib/mixer/mixer_multirotor.cpp b/apps/systemlib/mixer/mixer_multirotor.cpp
index 60b71c60a..7d1605917 100644
--- a/apps/systemlib/mixer/mixer_multirotor.cpp
+++ b/apps/systemlib/mixer/mixer_multirotor.cpp
@@ -64,52 +64,52 @@ namespace
  * These tables automatically generated by multi_tables - do not edit.
  */
 const MultirotorMixer::Rotor _config_quad_x[] = {
-	{ -0.707107,  0.707107,  1.00 },
-	{  0.707107, -0.707107,  1.00 },
-	{  0.707107,  0.707107, -1.00 },
-	{ -0.707107, -0.707107, -1.00 },
+	{ -0.707107,  0.707107, -1.00 },
+	{  0.707107, -0.707107, -1.00 },
+	{  0.707107,  0.707107,  1.00 },
+	{ -0.707107, -0.707107,  1.00 },
 };
 const MultirotorMixer::Rotor _config_quad_plus[] = {
-	{ -1.000000,  0.000000,  1.00 },
-	{  1.000000,  0.000000,  1.00 },
-	{  0.000000,  1.000000, -1.00 },
-	{ -0.000000, -1.000000, -1.00 },
+	{ -1.000000,  0.000000, -1.00 },
+	{  1.000000,  0.000000, -1.00 },
+	{  0.000000,  1.000000,  1.00 },
+	{ -0.000000, -1.000000,  1.00 },
 };
 const MultirotorMixer::Rotor _config_hex_x[] = {
-	{ -1.000000,  0.000000, -1.00 },
-	{  1.000000,  0.000000,  1.00 },
-	{  0.500000,  0.866025, -1.00 },
-	{ -0.500000, -0.866025,  1.00 },
-	{ -0.500000,  0.866025,  1.00 },
-	{  0.500000, -0.866025, -1.00 },
+	{ -1.000000,  0.000000,  1.00 },
+	{  1.000000,  0.000000, -1.00 },
+	{  0.500000,  0.866025,  1.00 },
+	{ -0.500000, -0.866025, -1.00 },
+	{ -0.500000,  0.866025, -1.00 },
+	{  0.500000, -0.866025,  1.00 },
 };
 const MultirotorMixer::Rotor _config_hex_plus[] = {
-	{  0.000000,  1.000000, -1.00 },
-	{ -0.000000, -1.000000,  1.00 },
-	{  0.866025, -0.500000, -1.00 },
-	{ -0.866025,  0.500000,  1.00 },
-	{  0.866025,  0.500000,  1.00 },
-	{ -0.866025, -0.500000, -1.00 },
+	{  0.000000,  1.000000,  1.00 },
+	{ -0.000000, -1.000000, -1.00 },
+	{  0.866025, -0.500000,  1.00 },
+	{ -0.866025,  0.500000, -1.00 },
+	{  0.866025,  0.500000, -1.00 },
+	{ -0.866025, -0.500000,  1.00 },
 };
 const MultirotorMixer::Rotor _config_octa_x[] = {
-	{ -0.382683,  0.923880, -1.00 },
-	{  0.382683, -0.923880, -1.00 },
-	{ -0.923880,  0.382683,  1.00 },
-	{ -0.382683, -0.923880,  1.00 },
-	{  0.382683,  0.923880,  1.00 },
-	{  0.923880, -0.382683,  1.00 },
-	{  0.923880,  0.382683, -1.00 },
-	{ -0.923880, -0.382683, -1.00 },
+	{ -0.382683,  0.923880,  1.00 },
+	{  0.382683, -0.923880,  1.00 },
+	{ -0.923880,  0.382683, -1.00 },
+	{ -0.382683, -0.923880, -1.00 },
+	{  0.382683,  0.923880, -1.00 },
+	{  0.923880, -0.382683, -1.00 },
+	{  0.923880,  0.382683,  1.00 },
+	{ -0.923880, -0.382683,  1.00 },
 };
 const MultirotorMixer::Rotor _config_octa_plus[] = {
-	{  0.000000,  1.000000, -1.00 },
-	{ -0.000000, -1.000000, -1.00 },
-	{ -0.707107,  0.707107,  1.00 },
-	{ -0.707107, -0.707107,  1.00 },
-	{  0.707107,  0.707107,  1.00 },
-	{  0.707107, -0.707107,  1.00 },
-	{  1.000000,  0.000000, -1.00 },
-	{ -1.000000,  0.000000, -1.00 },
+	{  0.000000,  1.000000,  1.00 },
+	{ -0.000000, -1.000000,  1.00 },
+	{ -0.707107,  0.707107, -1.00 },
+	{ -0.707107, -0.707107, -1.00 },
+	{  0.707107,  0.707107, -1.00 },
+	{  0.707107, -0.707107, -1.00 },
+	{  1.000000,  0.000000,  1.00 },
+	{ -1.000000,  0.000000,  1.00 },
 };
 const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOMETRY] = {
 	&_config_quad_x[0],
diff --git a/apps/systemlib/mixer/multi_tables b/apps/systemlib/mixer/multi_tables
index 3da1a11ba..2c4a5abed 100755
--- a/apps/systemlib/mixer/multi_tables
+++ b/apps/systemlib/mixer/multi_tables
@@ -62,7 +62,7 @@ set octa_plus {
 
 set tables {quad_x quad_plus hex_x hex_plus octa_x octa_plus}
 
-proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %5.2f }," [rcos [expr $a + 90]] [rcos $a] $d]}
+proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %5.2f }," [rcos [expr $a + 90]] [rcos $a] [expr -$d]]}
 
 foreach table $tables {
 	puts [format "const MultirotorMixer::Rotor _config_%s\[\] = {" $table]
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h b/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
index f53bcad9d..b73c6246c 100644
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
+++ b/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
@@ -12,15 +12,15 @@ extern "C" {
 // MESSAGE LENGTHS AND CRCS
 
 #ifndef MAVLINK_MESSAGE_LENGTHS
-#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 8, 4, 12, 15, 13, 6, 15, 14, 0, 12, 3, 8, 28, 44, 3, 9, 22, 12, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0}
+#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 60, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 8, 4, 12, 15, 13, 6, 15, 14, 0, 12, 3, 8, 28, 44, 3, 9, 22, 12, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0}
 #endif
 
 #ifndef MAVLINK_MESSAGE_CRCS
-#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 134, 219, 208, 188, 84, 22, 19, 21, 134, 0, 78, 68, 189, 127, 111, 21, 21, 144, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0}
+#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 106, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 134, 219, 208, 188, 84, 22, 19, 21, 134, 0, 78, 68, 189, 127, 111, 21, 21, 144, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0}
 #endif
 
 #ifndef MAVLINK_MESSAGE_INFO
-#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS, MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS, MAVLINK_MESSAGE_INFO_MEMINFO, MAVLINK_MESSAGE_INFO_AP_ADC, MAVLINK_MESSAGE_INFO_DIGICAM_CONFIGURE, MAVLINK_MESSAGE_INFO_DIGICAM_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_CONFIGURE, MAVLINK_MESSAGE_INFO_MOUNT_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_STATUS, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_FENCE_POINT, MAVLINK_MESSAGE_INFO_FENCE_FETCH_POINT, MAVLINK_MESSAGE_INFO_FENCE_STATUS, MAVLINK_MESSAGE_INFO_AHRS, MAVLINK_MESSAGE_INFO_SIMSTATE, MAVLINK_MESSAGE_INFO_HWSTATUS, MAVLINK_MESSAGE_INFO_RADIO, MAVLINK_MESSAGE_INFO_LIMITS_STATUS, MAVLINK_MESSAGE_INFO_WIND, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}}
+#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS, MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS, MAVLINK_MESSAGE_INFO_MEMINFO, MAVLINK_MESSAGE_INFO_AP_ADC, MAVLINK_MESSAGE_INFO_DIGICAM_CONFIGURE, MAVLINK_MESSAGE_INFO_DIGICAM_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_CONFIGURE, MAVLINK_MESSAGE_INFO_MOUNT_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_STATUS, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_FENCE_POINT, MAVLINK_MESSAGE_INFO_FENCE_FETCH_POINT, MAVLINK_MESSAGE_INFO_FENCE_STATUS, MAVLINK_MESSAGE_INFO_AHRS, MAVLINK_MESSAGE_INFO_SIMSTATE, MAVLINK_MESSAGE_INFO_HWSTATUS, MAVLINK_MESSAGE_INFO_RADIO, MAVLINK_MESSAGE_INFO_LIMITS_STATUS, MAVLINK_MESSAGE_INFO_WIND, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}}
 #endif
 
 #include "../protocol.h"
@@ -79,7 +79,7 @@ enum MAV_CMD
 	MAV_CMD_DO_MOUNT_CONFIGURE=204, /* Mission command to configure a camera or antenna mount |Mount operation mode (see MAV_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty|  */
 	MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |pitch(deg*100) or lat, depending on mount mode.| roll(deg*100) or lon depending on mount mode| yaw(deg*100) or alt (in cm) depending on mount mode| Empty| Empty| Empty| Empty|  */
 	MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Empty| Empty| Empty|  */
+	MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty|  */
 	MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units|  */
 	MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty|  */
 	MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty|  */
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/version.h b/mavlink/include/mavlink/v1.0/ardupilotmega/version.h
index d88d8965c..5e61d4f7b 100644
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/version.h
+++ b/mavlink/include/mavlink/v1.0/ardupilotmega/version.h
@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Thu Aug 23 16:39:14 2012"
+#define MAVLINK_BUILD_DATE "Mon Sep  3 14:55:54 2012"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
  
diff --git a/mavlink/include/mavlink/v1.0/common/common.h b/mavlink/include/mavlink/v1.0/common/common.h
index b7004f307..2c817d846 100644
--- a/mavlink/include/mavlink/v1.0/common/common.h
+++ b/mavlink/include/mavlink/v1.0/common/common.h
@@ -12,15 +12,15 @@ extern "C" {
 // MESSAGE LENGTHS AND CRCS
 
 #ifndef MAVLINK_MESSAGE_LENGTHS
-#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0}
+#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 60, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0}
 #endif
 
 #ifndef MAVLINK_MESSAGE_CRCS
-#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0}
+#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 106, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0}
 #endif
 
 #ifndef MAVLINK_MESSAGE_INFO
-#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, 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{"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}}
+#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}}
 #endif
 
 #include "../protocol.h"
@@ -259,7 +259,7 @@ enum MAV_CMD
 	MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty|  */
 	MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|  */
 	MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Empty| Empty| Empty|  */
+	MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty|  */
 	MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units|  */
 	MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty|  */
 	MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty|  */
@@ -481,6 +481,7 @@ enum MAV_SEVERITY
 #include "./mavlink_msg_vision_position_estimate.h"
 #include "./mavlink_msg_vision_speed_estimate.h"
 #include "./mavlink_msg_vicon_position_estimate.h"
+#include "./mavlink_msg_highres_imu.h"
 #include "./mavlink_msg_memory_vect.h"
 #include "./mavlink_msg_debug_vect.h"
 #include "./mavlink_msg_named_value_float.h"
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_attitude.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_attitude.h
index 9074a1d80..6db0592f2 100644
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_attitude.h
+++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_attitude.h
@@ -5,9 +5,9 @@
 typedef struct __mavlink_attitude_t
 {
  uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
- float roll; ///< Roll angle (rad)
- float pitch; ///< Pitch angle (rad)
- float yaw; ///< Yaw angle (rad)
+ float roll; ///< Roll angle (rad, -pi..+pi)
+ float pitch; ///< Pitch angle (rad, -pi..+pi)
+ float yaw; ///< Yaw angle (rad, -pi..+pi)
  float rollspeed; ///< Roll angular speed (rad/s)
  float pitchspeed; ///< Pitch angular speed (rad/s)
  float yawspeed; ///< Yaw angular speed (rad/s)
@@ -39,9 +39,9 @@ typedef struct __mavlink_attitude_t
  * @param msg The MAVLink message to compress the data into
  *
  * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param roll Roll angle (rad)
- * @param pitch Pitch angle (rad)
- * @param yaw Yaw angle (rad)
+ * @param roll Roll angle (rad, -pi..+pi)
+ * @param pitch Pitch angle (rad, -pi..+pi)
+ * @param yaw Yaw angle (rad, -pi..+pi)
  * @param rollspeed Roll angular speed (rad/s)
  * @param pitchspeed Pitch angular speed (rad/s)
  * @param yawspeed Yaw angular speed (rad/s)
@@ -85,9 +85,9 @@ static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t comp
  * @param chan The MAVLink channel this message was sent over
  * @param msg The MAVLink message to compress the data into
  * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param roll Roll angle (rad)
- * @param pitch Pitch angle (rad)
- * @param yaw Yaw angle (rad)
+ * @param roll Roll angle (rad, -pi..+pi)
+ * @param pitch Pitch angle (rad, -pi..+pi)
+ * @param yaw Yaw angle (rad, -pi..+pi)
  * @param rollspeed Roll angular speed (rad/s)
  * @param pitchspeed Pitch angular speed (rad/s)
  * @param yawspeed Yaw angular speed (rad/s)
@@ -143,9 +143,9 @@ static inline uint16_t mavlink_msg_attitude_encode(uint8_t system_id, uint8_t co
  * @param chan MAVLink channel to send the message
  *
  * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param roll Roll angle (rad)
- * @param pitch Pitch angle (rad)
- * @param yaw Yaw angle (rad)
+ * @param roll Roll angle (rad, -pi..+pi)
+ * @param pitch Pitch angle (rad, -pi..+pi)
+ * @param yaw Yaw angle (rad, -pi..+pi)
  * @param rollspeed Roll angular speed (rad/s)
  * @param pitchspeed Pitch angular speed (rad/s)
  * @param yawspeed Yaw angular speed (rad/s)
@@ -197,7 +197,7 @@ static inline uint32_t mavlink_msg_attitude_get_time_boot_ms(const mavlink_messa
 /**
  * @brief Get field roll from attitude message
  *
- * @return Roll angle (rad)
+ * @return Roll angle (rad, -pi..+pi)
  */
 static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t* msg)
 {
@@ -207,7 +207,7 @@ static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t* msg)
 /**
  * @brief Get field pitch from attitude message
  *
- * @return Pitch angle (rad)
+ * @return Pitch angle (rad, -pi..+pi)
  */
 static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t* msg)
 {
@@ -217,7 +217,7 @@ static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t* msg)
 /**
  * @brief Get field yaw from attitude message
  *
- * @return Yaw angle (rad)
+ * @return Yaw angle (rad, -pi..+pi)
  */
 static inline float mavlink_msg_attitude_get_yaw(const mavlink_message_t* msg)
 {
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_highres_imu.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_highres_imu.h
new file mode 100644
index 000000000..117a98e28
--- /dev/null
+++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_highres_imu.h
@@ -0,0 +1,430 @@
+// MESSAGE HIGHRES_IMU PACKING
+
+#define MAVLINK_MSG_ID_HIGHRES_IMU 105
+
+typedef struct __mavlink_highres_imu_t
+{
+ uint64_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
+ float xacc; ///< X acceleration (m/s^2)
+ float yacc; ///< Y acceleration (m/s^2)
+ float zacc; ///< Z acceleration (m/s^2)
+ float xgyro; ///< Angular speed around X axis (rad / sec)
+ float ygyro; ///< Angular speed around Y axis (rad / sec)
+ float zgyro; ///< Angular speed around Z axis (rad / sec)
+ float xmag; ///< X Magnetic field (Gauss)
+ float ymag; ///< Y Magnetic field (Gauss)
+ float zmag; ///< Z Magnetic field (Gauss)
+ float abs_pressure; ///< Absolute pressure in hectopascal
+ float diff_pressure; ///< Differential pressure in hectopascal
+ float pressure_alt; ///< Altitude calculated from pressure
+ float temperature; ///< Temperature in degrees celsius
+} mavlink_highres_imu_t;
+
+#define MAVLINK_MSG_ID_HIGHRES_IMU_LEN 60
+#define MAVLINK_MSG_ID_105_LEN 60
+
+
+
+#define MAVLINK_MESSAGE_INFO_HIGHRES_IMU { \
+	"HIGHRES_IMU", \
+	14, \
+	{  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_highres_imu_t, time_boot_ms) }, \
+         { "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_highres_imu_t, xacc) }, \
+         { "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_highres_imu_t, yacc) }, \
+         { "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_highres_imu_t, zacc) }, \
+         { "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_highres_imu_t, xgyro) }, \
+         { "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_highres_imu_t, ygyro) }, \
+         { "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_highres_imu_t, zgyro) }, \
+         { "xmag", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_highres_imu_t, xmag) }, \
+         { "ymag", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_highres_imu_t, ymag) }, \
+         { "zmag", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_highres_imu_t, zmag) }, \
+         { "abs_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_highres_imu_t, abs_pressure) }, \
+         { "diff_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_highres_imu_t, diff_pressure) }, \
+         { "pressure_alt", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_highres_imu_t, pressure_alt) }, \
+         { "temperature", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_highres_imu_t, temperature) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a highres_imu message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param xacc X acceleration (m/s^2)
+ * @param yacc Y acceleration (m/s^2)
+ * @param zacc Z acceleration (m/s^2)
+ * @param xgyro Angular speed around X axis (rad / sec)
+ * @param ygyro Angular speed around Y axis (rad / sec)
+ * @param zgyro Angular speed around Z axis (rad / sec)
+ * @param xmag X Magnetic field (Gauss)
+ * @param ymag Y Magnetic field (Gauss)
+ * @param zmag Z Magnetic field (Gauss)
+ * @param abs_pressure Absolute pressure in hectopascal
+ * @param diff_pressure Differential pressure in hectopascal
+ * @param pressure_alt Altitude calculated from pressure
+ * @param temperature Temperature in degrees celsius
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_highres_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       uint64_t time_boot_ms, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[60];
+	_mav_put_uint64_t(buf, 0, time_boot_ms);
+	_mav_put_float(buf, 8, xacc);
+	_mav_put_float(buf, 12, yacc);
+	_mav_put_float(buf, 16, zacc);
+	_mav_put_float(buf, 20, xgyro);
+	_mav_put_float(buf, 24, ygyro);
+	_mav_put_float(buf, 28, zgyro);
+	_mav_put_float(buf, 32, xmag);
+	_mav_put_float(buf, 36, ymag);
+	_mav_put_float(buf, 40, zmag);
+	_mav_put_float(buf, 44, abs_pressure);
+	_mav_put_float(buf, 48, diff_pressure);
+	_mav_put_float(buf, 52, pressure_alt);
+	_mav_put_float(buf, 56, temperature);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 60);
+#else
+	mavlink_highres_imu_t packet;
+	packet.time_boot_ms = time_boot_ms;
+	packet.xacc = xacc;
+	packet.yacc = yacc;
+	packet.zacc = zacc;
+	packet.xgyro = xgyro;
+	packet.ygyro = ygyro;
+	packet.zgyro = zgyro;
+	packet.xmag = xmag;
+	packet.ymag = ymag;
+	packet.zmag = zmag;
+	packet.abs_pressure = abs_pressure;
+	packet.diff_pressure = diff_pressure;
+	packet.pressure_alt = pressure_alt;
+	packet.temperature = temperature;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 60);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_HIGHRES_IMU;
+	return mavlink_finalize_message(msg, system_id, component_id, 60, 106);
+}
+
+/**
+ * @brief Pack a highres_imu message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param xacc X acceleration (m/s^2)
+ * @param yacc Y acceleration (m/s^2)
+ * @param zacc Z acceleration (m/s^2)
+ * @param xgyro Angular speed around X axis (rad / sec)
+ * @param ygyro Angular speed around Y axis (rad / sec)
+ * @param zgyro Angular speed around Z axis (rad / sec)
+ * @param xmag X Magnetic field (Gauss)
+ * @param ymag Y Magnetic field (Gauss)
+ * @param zmag Z Magnetic field (Gauss)
+ * @param abs_pressure Absolute pressure in hectopascal
+ * @param diff_pressure Differential pressure in hectopascal
+ * @param pressure_alt Altitude calculated from pressure
+ * @param temperature Temperature in degrees celsius
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_highres_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           uint64_t time_boot_ms,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro,float xmag,float ymag,float zmag,float abs_pressure,float diff_pressure,float pressure_alt,float temperature)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[60];
+	_mav_put_uint64_t(buf, 0, time_boot_ms);
+	_mav_put_float(buf, 8, xacc);
+	_mav_put_float(buf, 12, yacc);
+	_mav_put_float(buf, 16, zacc);
+	_mav_put_float(buf, 20, xgyro);
+	_mav_put_float(buf, 24, ygyro);
+	_mav_put_float(buf, 28, zgyro);
+	_mav_put_float(buf, 32, xmag);
+	_mav_put_float(buf, 36, ymag);
+	_mav_put_float(buf, 40, zmag);
+	_mav_put_float(buf, 44, abs_pressure);
+	_mav_put_float(buf, 48, diff_pressure);
+	_mav_put_float(buf, 52, pressure_alt);
+	_mav_put_float(buf, 56, temperature);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 60);
+#else
+	mavlink_highres_imu_t packet;
+	packet.time_boot_ms = time_boot_ms;
+	packet.xacc = xacc;
+	packet.yacc = yacc;
+	packet.zacc = zacc;
+	packet.xgyro = xgyro;
+	packet.ygyro = ygyro;
+	packet.zgyro = zgyro;
+	packet.xmag = xmag;
+	packet.ymag = ymag;
+	packet.zmag = zmag;
+	packet.abs_pressure = abs_pressure;
+	packet.diff_pressure = diff_pressure;
+	packet.pressure_alt = pressure_alt;
+	packet.temperature = temperature;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 60);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_HIGHRES_IMU;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 60, 106);
+}
+
+/**
+ * @brief Encode a highres_imu struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param highres_imu C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_highres_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_highres_imu_t* highres_imu)
+{
+	return mavlink_msg_highres_imu_pack(system_id, component_id, msg, highres_imu->time_boot_ms, highres_imu->xacc, highres_imu->yacc, highres_imu->zacc, highres_imu->xgyro, highres_imu->ygyro, highres_imu->zgyro, highres_imu->xmag, highres_imu->ymag, highres_imu->zmag, highres_imu->abs_pressure, highres_imu->diff_pressure, highres_imu->pressure_alt, highres_imu->temperature);
+}
+
+/**
+ * @brief Send a highres_imu message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param xacc X acceleration (m/s^2)
+ * @param yacc Y acceleration (m/s^2)
+ * @param zacc Z acceleration (m/s^2)
+ * @param xgyro Angular speed around X axis (rad / sec)
+ * @param ygyro Angular speed around Y axis (rad / sec)
+ * @param zgyro Angular speed around Z axis (rad / sec)
+ * @param xmag X Magnetic field (Gauss)
+ * @param ymag Y Magnetic field (Gauss)
+ * @param zmag Z Magnetic field (Gauss)
+ * @param abs_pressure Absolute pressure in hectopascal
+ * @param diff_pressure Differential pressure in hectopascal
+ * @param pressure_alt Altitude calculated from pressure
+ * @param temperature Temperature in degrees celsius
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_highres_imu_send(mavlink_channel_t chan, uint64_t time_boot_ms, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[60];
+	_mav_put_uint64_t(buf, 0, time_boot_ms);
+	_mav_put_float(buf, 8, xacc);
+	_mav_put_float(buf, 12, yacc);
+	_mav_put_float(buf, 16, zacc);
+	_mav_put_float(buf, 20, xgyro);
+	_mav_put_float(buf, 24, ygyro);
+	_mav_put_float(buf, 28, zgyro);
+	_mav_put_float(buf, 32, xmag);
+	_mav_put_float(buf, 36, ymag);
+	_mav_put_float(buf, 40, zmag);
+	_mav_put_float(buf, 44, abs_pressure);
+	_mav_put_float(buf, 48, diff_pressure);
+	_mav_put_float(buf, 52, pressure_alt);
+	_mav_put_float(buf, 56, temperature);
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, buf, 60, 106);
+#else
+	mavlink_highres_imu_t packet;
+	packet.time_boot_ms = time_boot_ms;
+	packet.xacc = xacc;
+	packet.yacc = yacc;
+	packet.zacc = zacc;
+	packet.xgyro = xgyro;
+	packet.ygyro = ygyro;
+	packet.zgyro = zgyro;
+	packet.xmag = xmag;
+	packet.ymag = ymag;
+	packet.zmag = zmag;
+	packet.abs_pressure = abs_pressure;
+	packet.diff_pressure = diff_pressure;
+	packet.pressure_alt = pressure_alt;
+	packet.temperature = temperature;
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, (const char *)&packet, 60, 106);
+#endif
+}
+
+#endif
+
+// MESSAGE HIGHRES_IMU UNPACKING
+
+
+/**
+ * @brief Get field time_boot_ms from highres_imu message
+ *
+ * @return Timestamp (milliseconds since system boot)
+ */
+static inline uint64_t mavlink_msg_highres_imu_get_time_boot_ms(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint64_t(msg,  0);
+}
+
+/**
+ * @brief Get field xacc from highres_imu message
+ *
+ * @return X acceleration (m/s^2)
+ */
+static inline float mavlink_msg_highres_imu_get_xacc(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  8);
+}
+
+/**
+ * @brief Get field yacc from highres_imu message
+ *
+ * @return Y acceleration (m/s^2)
+ */
+static inline float mavlink_msg_highres_imu_get_yacc(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  12);
+}
+
+/**
+ * @brief Get field zacc from highres_imu message
+ *
+ * @return Z acceleration (m/s^2)
+ */
+static inline float mavlink_msg_highres_imu_get_zacc(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  16);
+}
+
+/**
+ * @brief Get field xgyro from highres_imu message
+ *
+ * @return Angular speed around X axis (rad / sec)
+ */
+static inline float mavlink_msg_highres_imu_get_xgyro(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  20);
+}
+
+/**
+ * @brief Get field ygyro from highres_imu message
+ *
+ * @return Angular speed around Y axis (rad / sec)
+ */
+static inline float mavlink_msg_highres_imu_get_ygyro(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  24);
+}
+
+/**
+ * @brief Get field zgyro from highres_imu message
+ *
+ * @return Angular speed around Z axis (rad / sec)
+ */
+static inline float mavlink_msg_highres_imu_get_zgyro(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  28);
+}
+
+/**
+ * @brief Get field xmag from highres_imu message
+ *
+ * @return X Magnetic field (Gauss)
+ */
+static inline float mavlink_msg_highres_imu_get_xmag(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  32);
+}
+
+/**
+ * @brief Get field ymag from highres_imu message
+ *
+ * @return Y Magnetic field (Gauss)
+ */
+static inline float mavlink_msg_highres_imu_get_ymag(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  36);
+}
+
+/**
+ * @brief Get field zmag from highres_imu message
+ *
+ * @return Z Magnetic field (Gauss)
+ */
+static inline float mavlink_msg_highres_imu_get_zmag(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  40);
+}
+
+/**
+ * @brief Get field abs_pressure from highres_imu message
+ *
+ * @return Absolute pressure in hectopascal
+ */
+static inline float mavlink_msg_highres_imu_get_abs_pressure(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  44);
+}
+
+/**
+ * @brief Get field diff_pressure from highres_imu message
+ *
+ * @return Differential pressure in hectopascal
+ */
+static inline float mavlink_msg_highres_imu_get_diff_pressure(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  48);
+}
+
+/**
+ * @brief Get field pressure_alt from highres_imu message
+ *
+ * @return Altitude calculated from pressure
+ */
+static inline float mavlink_msg_highres_imu_get_pressure_alt(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  52);
+}
+
+/**
+ * @brief Get field temperature from highres_imu message
+ *
+ * @return Temperature in degrees celsius
+ */
+static inline float mavlink_msg_highres_imu_get_temperature(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  56);
+}
+
+/**
+ * @brief Decode a highres_imu message into a struct
+ *
+ * @param msg The message to decode
+ * @param highres_imu C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_highres_imu_decode(const mavlink_message_t* msg, mavlink_highres_imu_t* highres_imu)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	highres_imu->time_boot_ms = mavlink_msg_highres_imu_get_time_boot_ms(msg);
+	highres_imu->xacc = mavlink_msg_highres_imu_get_xacc(msg);
+	highres_imu->yacc = mavlink_msg_highres_imu_get_yacc(msg);
+	highres_imu->zacc = mavlink_msg_highres_imu_get_zacc(msg);
+	highres_imu->xgyro = mavlink_msg_highres_imu_get_xgyro(msg);
+	highres_imu->ygyro = mavlink_msg_highres_imu_get_ygyro(msg);
+	highres_imu->zgyro = mavlink_msg_highres_imu_get_zgyro(msg);
+	highres_imu->xmag = mavlink_msg_highres_imu_get_xmag(msg);
+	highres_imu->ymag = mavlink_msg_highres_imu_get_ymag(msg);
+	highres_imu->zmag = mavlink_msg_highres_imu_get_zmag(msg);
+	highres_imu->abs_pressure = mavlink_msg_highres_imu_get_abs_pressure(msg);
+	highres_imu->diff_pressure = mavlink_msg_highres_imu_get_diff_pressure(msg);
+	highres_imu->pressure_alt = mavlink_msg_highres_imu_get_pressure_alt(msg);
+	highres_imu->temperature = mavlink_msg_highres_imu_get_temperature(msg);
+#else
+	memcpy(highres_imu, _MAV_PAYLOAD(msg), 60);
+#endif
+}
diff --git a/mavlink/include/mavlink/v1.0/common/testsuite.h b/mavlink/include/mavlink/v1.0/common/testsuite.h
index b28ed0429..33c77d142 100644
--- a/mavlink/include/mavlink/v1.0/common/testsuite.h
+++ b/mavlink/include/mavlink/v1.0/common/testsuite.h
@@ -3715,6 +3715,75 @@ static void mavlink_test_vicon_position_estimate(uint8_t system_id, uint8_t comp
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }
 
+static void mavlink_test_highres_imu(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_highres_imu_t packet_in = {
+		93372036854775807ULL,
+	73.0,
+	101.0,
+	129.0,
+	157.0,
+	185.0,
+	213.0,
+	241.0,
+	269.0,
+	297.0,
+	325.0,
+	353.0,
+	381.0,
+	409.0,
+	};
+	mavlink_highres_imu_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.time_boot_ms = packet_in.time_boot_ms;
+        	packet1.xacc = packet_in.xacc;
+        	packet1.yacc = packet_in.yacc;
+        	packet1.zacc = packet_in.zacc;
+        	packet1.xgyro = packet_in.xgyro;
+        	packet1.ygyro = packet_in.ygyro;
+        	packet1.zgyro = packet_in.zgyro;
+        	packet1.xmag = packet_in.xmag;
+        	packet1.ymag = packet_in.ymag;
+        	packet1.zmag = packet_in.zmag;
+        	packet1.abs_pressure = packet_in.abs_pressure;
+        	packet1.diff_pressure = packet_in.diff_pressure;
+        	packet1.pressure_alt = packet_in.pressure_alt;
+        	packet1.temperature = packet_in.temperature;
+        
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_highres_imu_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_highres_imu_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_highres_imu_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature );
+	mavlink_msg_highres_imu_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_highres_imu_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature );
+	mavlink_msg_highres_imu_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_highres_imu_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_highres_imu_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature );
+	mavlink_msg_highres_imu_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
 static void mavlink_test_memory_vect(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
 {
 	mavlink_message_t msg;
@@ -4072,6 +4141,7 @@ static void mavlink_test_common(uint8_t system_id, uint8_t component_id, mavlink
 	mavlink_test_vision_position_estimate(system_id, component_id, last_msg);
 	mavlink_test_vision_speed_estimate(system_id, component_id, last_msg);
 	mavlink_test_vicon_position_estimate(system_id, component_id, last_msg);
+	mavlink_test_highres_imu(system_id, component_id, last_msg);
 	mavlink_test_memory_vect(system_id, component_id, last_msg);
 	mavlink_test_debug_vect(system_id, component_id, last_msg);
 	mavlink_test_named_value_float(system_id, component_id, last_msg);
diff --git a/mavlink/include/mavlink/v1.0/common/version.h b/mavlink/include/mavlink/v1.0/common/version.h
index 5a0ce2af9..0bd0f331f 100644
--- a/mavlink/include/mavlink/v1.0/common/version.h
+++ b/mavlink/include/mavlink/v1.0/common/version.h
@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Thu Aug 23 16:39:58 2012"
+#define MAVLINK_BUILD_DATE "Mon Sep  3 14:56:15 2012"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
  
diff --git a/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h b/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h
index db9c31edd..1d44b54e8 100644
--- a/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h
+++ b/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h
@@ -12,15 +12,15 @@ extern "C" {
 // MESSAGE LENGTHS AND CRCS
 
 #ifndef MAVLINK_MESSAGE_LENGTHS
-#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 11, 52, 1, 92, 0, 0, 0, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 26, 16, 0, 0, 0, 0, 0, 0, 0, 4, 255, 12, 6, 0, 0, 0, 0, 0, 0, 106, 43, 55, 12, 255, 53, 0, 0, 0, 0, 21, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0}
+#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 60, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 11, 52, 1, 92, 0, 0, 0, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 26, 16, 0, 0, 0, 0, 0, 0, 0, 4, 255, 12, 6, 0, 0, 0, 0, 0, 0, 106, 43, 55, 12, 255, 53, 0, 0, 0, 0, 21, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0}
 #endif
 
 #ifndef MAVLINK_MESSAGE_CRCS
-#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 108, 86, 95, 224, 0, 0, 0, 0, 0, 22, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 249, 182, 0, 0, 0, 0, 0, 0, 0, 153, 16, 29, 162, 0, 0, 0, 0, 0, 0, 90, 95, 36, 23, 223, 88, 0, 0, 0, 0, 254, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0}
+#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 106, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 108, 86, 95, 224, 0, 0, 0, 0, 0, 22, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 249, 182, 0, 0, 0, 0, 0, 0, 0, 153, 16, 29, 162, 0, 0, 0, 0, 0, 0, 90, 95, 36, 23, 223, 88, 0, 0, 0, 0, 254, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0}
 #endif
 
 #ifndef MAVLINK_MESSAGE_INFO
-#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_CAM_SHUTTER, MAVLINK_MESSAGE_INFO_IMAGE_TRIGGERED, MAVLINK_MESSAGE_INFO_IMAGE_TRIGGER_CONTROL, MAVLINK_MESSAGE_INFO_IMAGE_AVAILABLE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_POSITION_CONTROL_OFFSET, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_POSITION_CONTROL_SETPOINT, MAVLINK_MESSAGE_INFO_MARKER, MAVLINK_MESSAGE_INFO_RAW_AUX, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_WATCHDOG_HEARTBEAT, MAVLINK_MESSAGE_INFO_WATCHDOG_PROCESS_INFO, MAVLINK_MESSAGE_INFO_WATCHDOG_PROCESS_STATUS, MAVLINK_MESSAGE_INFO_WATCHDOG_COMMAND, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PATTERN_DETECTED, MAVLINK_MESSAGE_INFO_POINT_OF_INTEREST, MAVLINK_MESSAGE_INFO_POINT_OF_INTEREST_CONNECTION, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, MAVLINK_MESSAGE_INFO_BRIEF_FEATURE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ATTITUDE_CONTROL, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}}
+#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_CAM_SHUTTER, MAVLINK_MESSAGE_INFO_IMAGE_TRIGGERED, MAVLINK_MESSAGE_INFO_IMAGE_TRIGGER_CONTROL, MAVLINK_MESSAGE_INFO_IMAGE_AVAILABLE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_POSITION_CONTROL_OFFSET, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_POSITION_CONTROL_SETPOINT, MAVLINK_MESSAGE_INFO_MARKER, MAVLINK_MESSAGE_INFO_RAW_AUX, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_WATCHDOG_HEARTBEAT, MAVLINK_MESSAGE_INFO_WATCHDOG_PROCESS_INFO, MAVLINK_MESSAGE_INFO_WATCHDOG_PROCESS_STATUS, MAVLINK_MESSAGE_INFO_WATCHDOG_COMMAND, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PATTERN_DETECTED, MAVLINK_MESSAGE_INFO_POINT_OF_INTEREST, MAVLINK_MESSAGE_INFO_POINT_OF_INTEREST_CONNECTION, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, MAVLINK_MESSAGE_INFO_BRIEF_FEATURE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ATTITUDE_CONTROL, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}}
 #endif
 
 #include "../protocol.h"
@@ -73,7 +73,7 @@ enum MAV_CMD
 	MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty|  */
 	MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|  */
 	MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Empty| Empty| Empty|  */
+	MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty|  */
 	MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units|  */
 	MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty|  */
 	MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty|  */
diff --git a/mavlink/include/mavlink/v1.0/pixhawk/version.h b/mavlink/include/mavlink/v1.0/pixhawk/version.h
index 113cdd7a2..b2e02526f 100644
--- a/mavlink/include/mavlink/v1.0/pixhawk/version.h
+++ b/mavlink/include/mavlink/v1.0/pixhawk/version.h
@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Thu Aug 23 16:39:39 2012"
+#define MAVLINK_BUILD_DATE "Mon Sep  3 14:56:05 2012"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/sensesoar.h b/mavlink/include/mavlink/v1.0/sensesoar/sensesoar.h
index f4b096f9a..bb802dea6 100644
--- a/mavlink/include/mavlink/v1.0/sensesoar/sensesoar.h
+++ b/mavlink/include/mavlink/v1.0/sensesoar/sensesoar.h
@@ -12,15 +12,15 @@ extern "C" {
 // MESSAGE LENGTHS AND CRCS
 
 #ifndef MAVLINK_MESSAGE_LENGTHS
-#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 12, 0, 12, 0, 32, 0, 12, 0, 12, 0, 24, 0, 4, 4, 12, 0, 12, 0, 20, 0, 4, 0, 5, 0, 5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0}
+#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 60, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 12, 0, 12, 0, 32, 0, 12, 0, 12, 0, 24, 0, 4, 4, 12, 0, 12, 0, 20, 0, 4, 0, 5, 0, 5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0}
 #endif
 
 #ifndef MAVLINK_MESSAGE_CRCS
-#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 15, 0, 108, 0, 146, 0, 16, 0, 32, 0, 159, 0, 24, 248, 79, 0, 5, 0, 170, 0, 157, 0, 209, 0, 243, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0}
+#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 106, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 15, 0, 108, 0, 146, 0, 16, 0, 32, 0, 159, 0, 24, 248, 79, 0, 5, 0, 170, 0, 157, 0, 209, 0, 243, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0}
 #endif
 
 #ifndef MAVLINK_MESSAGE_INFO
-#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_POSITION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_VELOCITY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_ATTITUDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_WIND, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_AIR_VELOCITY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_BIAS, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_QFF, MAVLINK_MESSAGE_INFO_OBS_AIR_TEMP, MAVLINK_MESSAGE_INFO_FILT_ROT_VEL, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LLC_OUT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PM_ELEC, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SYS_Stat, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_CMD_AIRSPEED_CHNG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_CMD_AIRSPEED_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}}
+#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_POSITION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_VELOCITY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_ATTITUDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_WIND, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_AIR_VELOCITY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_BIAS, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_QFF, MAVLINK_MESSAGE_INFO_OBS_AIR_TEMP, MAVLINK_MESSAGE_INFO_FILT_ROT_VEL, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LLC_OUT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PM_ELEC, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SYS_Stat, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_CMD_AIRSPEED_CHNG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_CMD_AIRSPEED_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}}
 #endif
 
 #include "../protocol.h"
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/version.h b/mavlink/include/mavlink/v1.0/sensesoar/version.h
index bf3e56247..40aa6b625 100644
--- a/mavlink/include/mavlink/v1.0/sensesoar/version.h
+++ b/mavlink/include/mavlink/v1.0/sensesoar/version.h
@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Thu Aug 23 16:39:49 2012"
+#define MAVLINK_BUILD_DATE "Mon Sep  3 14:56:15 2012"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
  
diff --git a/nuttx/ChangeLog b/nuttx/ChangeLog
index eff224f79..b67c066bc 100644
--- a/nuttx/ChangeLog
+++ b/nuttx/ChangeLog
@@ -3202,4 +3202,51 @@
 	  for control transfers but does not resolve all of the issues.
 	* configs/stm3220g-eval/*/defconfig:  Calibrated delay loop.  It had
 	  never been calibrated was was way off.
-
+	* sched/sem_holder.c: Add logic to handler some priority inheritance
+	  cases when sem_post() is called from an interrupt handler.  The
+	  logic is clearly wrong, but it is not known if this is the
+	  cause of any known bugs.
+	* lib/stdio/lib_perror():  Add perror().  Contributed by Kate.
+	* lib/string/lib_strerror():  Add option CONFIG_LIBC_STRERROR that
+	  is now required to enabled strerror().  Add an option
+	  CONFIG_LIBC_STRERROR_SHORT that can be used to output shortened
+	  strings by strerror().
+	* arch/arm/src/stm32/stm32_usbotghost.c:  Finally... the USB OTG FS
+	  appears to handle NAKing correctly is complete.
+	* configs/stm32f4discovery/*:  Added and verifed support for USB OTG FS
+	  host on the STM32F4Discovery board.
+	* configs/*/defconfig: Remove configuration documentation from config
+	  files.  It is redundant, error-prone, and difficult to maintain.
+	  Configuration documentation is available in configs/README.txt for
+	  common configurations and in configs/*/README.txt for board and MCU_
+	  specific configurations.
+	* configs/stm3240g-eval: Add USB host support.
+	* sched/os_bring.c, configs/*/defconfig, tools/mkconfig.c, and others:  Added
+	  configuration variable CONFIG_USER_ENTRYPOINT that may be used to change
+	  the default entry from user_start to some other symbol.  Contributed by
+	  Kate. NOTE: This change does introduce a minor backward incompatibility.
+	  For example, if your application uses NSH as its start-up program, then your
+	  code will not fail because it will be unable to find "user_start".  The fix
+	  for this link failure is to add the following to your configuration file:
+	  CONFIG_USER_ENTRYPOINT="nsh_main".
+	* libs/stdio/lib_libfread.c and lib_*flush*.c:  Correct a couple of
+	  error cases where the lib semaphore was not be released on error
+	  exits (thanks Ronen Vainish).  Also, improved some error reporting:
+	  the generic ERROR was being used instead of the specific errno
+	  value; the errno variable was not always set correctly.
+	* tools/mkfsdata.pl: The uIP web server CGI image making perl script was
+	  moved from apps/netutils/webserver/makefsdata to nuttx/tools/mkfsdata.pl
+	  (Part of a larger change submitted by Max Holtzberg).
+	* configs/stm3240g-eval/script/ld.script:  All of the identical ld.script
+	  files for the STM3240G-EVAL were replaced by one version in this directory.
+	* configs/stm3240g-eval/webserver:  Configuration submitted by Max Holtzberg
+	  for testing the changes to the uIP web server (see apps/ChangeLog.txt).
+	* lib/stdio/lib_perror.c:  Remove CONFIG_LIBC_PERROR_DEVNAME.  What was I
+	  thinking?  Arbitrary streams cannot be shared by different tasks.
+	* tools/mksyscall.c, csvparser.c, and csvparser.h: Separate CSV parsing
+	  logic from mksyscall.c into files where it can be shared.
+	* tools/mksymtab.c:  Add a tool that can be used to convert a CSV file
+	  into a NuttX-style symbol table.
+	* sched/work_cancel.c:  Fix a bad assertion (reported by Mike Smith)
+	* configs/stm3210e-eval/src/up_idle.c:  Correct some power management
+	  compilation errors (reported by Diego Sanchez).
diff --git a/nuttx/arch/arm/src/stm32/stm32_otgfshost.c b/nuttx/arch/arm/src/stm32/stm32_otgfshost.c
index ce0e9036e..02b12ec87 100644
--- a/nuttx/arch/arm/src/stm32/stm32_otgfshost.c
+++ b/nuttx/arch/arm/src/stm32/stm32_otgfshost.c
@@ -43,15 +43,12 @@
 #include <stdint.h>
 #include <stdbool.h>
 #include <stdlib.h>
+#include <unistd.h>
 #include <semaphore.h>
 #include <string.h>
 #include <errno.h>
 #include <debug.h>
 
-#if !defined(CONFIG_DEBUG_VERBOSE) && !defined(CONFIG_DEBUG_USB)
-#  include <debug.h>
-#endif
-
 #include <nuttx/arch.h>
 #include <nuttx/kmalloc.h>
 #include <nuttx/usb/usb.h>
@@ -315,6 +312,10 @@ static int stm32_ctrl_senddata(FAR struct stm32_usbhost_s *priv,
                                FAR uint8_t *buffer, unsigned int buflen);
 static int stm32_ctrl_recvdata(FAR struct stm32_usbhost_s *priv,
                                FAR uint8_t *buffer, unsigned int buflen);
+static int stm32_in_transfer(FAR struct stm32_usbhost_s *priv, int chidx,
+                             FAR uint8_t *buffer, size_t buflen);
+static int stm32_out_transfer(FAR struct stm32_usbhost_s *priv, int chidx,
+                              FAR uint8_t *buffer, size_t buflen);
 
 /* Interrupt handling **********************************************************/
 /* Lower level interrupt handlers */
@@ -751,7 +752,7 @@ static void stm32_chan_configure(FAR struct stm32_usbhost_s *priv, int chidx)
   stm32_putreg(STM32_OTGFS_HCINTMSK(chidx), regval);
 
   /* Enable the top level host channel interrupt. */
- 
+
   stm32_modifyreg(STM32_OTGFS_HAINTMSK, 0, OTGFS_HAINT(chidx));
 
   /* Make sure host channel interrupts are enabled. */
@@ -808,7 +809,7 @@ static void stm32_chan_halt(FAR struct stm32_usbhost_s *priv, int chidx,
   uint32_t eptype;
   unsigned int avail;
 
-  /* Save the recon for the halt.  We need this in the channel halt interrrupt
+  /* Save the reason for the halt.  We need this in the channel halt interrrupt
    * handling logic to know what to do next.
    */
 
@@ -1157,7 +1158,7 @@ static void stm32_transfer_start(FAR struct stm32_usbhost_s *priv, int chidx)
               unsigned int wrpackets = avail / chan->maxpacket;
               wrsize = wrpackets * chan->maxpacket;
             }
-        
+
           /* Write packet into the Tx FIFO. */
 
           stm32_gint_wrpacket(priv, chan->buffer, chidx, wrsize);
@@ -1355,6 +1356,254 @@ static int stm32_ctrl_recvdata(FAR struct stm32_usbhost_s *priv,
 }
 
 /*******************************************************************************
+ * Name: stm32_in_transfer
+ *
+ * Description:
+ *   Transfer 'buflen' bytes into 'buffer' from an IN channel.
+ *
+ *******************************************************************************/
+
+static int stm32_in_transfer(FAR struct stm32_usbhost_s *priv, int chidx,
+                             FAR uint8_t *buffer, size_t buflen)
+{
+  FAR struct stm32_chan_s *chan;
+  uint16_t start;
+  uint16_t elapsed;
+  int ret = OK;
+
+  /* Loop until the transfer completes (i.e., buflen is decremented to zero)
+   * or a fatal error occurs (any error other than a simple NAK)
+   */
+
+  chan         = &priv->chan[chidx];
+  chan->buffer = buffer;
+  chan->buflen = buflen;
+
+  start = stm32_getframe();
+  while (chan->buflen > 0)
+    {
+      /* Set up for the wait BEFORE starting the transfer */
+
+      ret = stm32_chan_waitsetup(priv, chan);
+      if (ret != OK)
+        {
+          udbg("ERROR: Device disconnected\n");
+          return ret;
+        }
+
+      /* Set up for the transfer based on the direction and the endpoint type */
+
+      switch (chan->eptype)
+        {
+        default:
+        case OTGFS_EPTYPE_CTRL: /* Control */
+          {
+            /* This kind of transfer on control endpoints other than EP0 are not
+             * currently supported
+             */
+
+            return -ENOSYS;
+          }
+
+        case OTGFS_EPTYPE_ISOC: /* Isochronous */
+          {
+            /* Set up the IN data PID */
+
+            chan->pid = OTGFS_PID_DATA0;
+          }
+          break;
+
+        case OTGFS_EPTYPE_BULK: /* Bulk */
+        case OTGFS_EPTYPE_INTR: /* Interrupt */
+          {
+            /* Setup the IN data PID */
+
+            chan->pid = chan->indata1 ? OTGFS_PID_DATA1 : OTGFS_PID_DATA0;
+          }
+          break;
+        }
+
+      /* Start the transfer */
+
+      stm32_transfer_start(priv, chidx);
+
+      /* Wait for the transfer to complete and get the result */
+
+      ret = stm32_chan_wait(priv, chan);
+
+      /* EAGAIN indicates that the device NAKed the transfer and we need
+       * do try again.  Anything else (success or other errors) will
+       * cause use to return
+       */
+
+      if (ret != OK)
+        {
+          udbg("Transfer failed: %d\n", ret);
+
+          /* Check for a special case:  If (1) the transfer was NAKed and (2)
+           * no Tx FIFO empty or Rx FIFO not-empty event occurred, then we
+           * should be able to just flush the Rx and Tx FIFOs and try again.
+           * We can detect this latter case becasue the then the transfer
+           * buffer pointer and buffer size will be unaltered.
+           */
+
+          elapsed = stm32_getframe() - start;
+          if (ret != -EAGAIN ||                       /* Not a NAK condition OR */
+              elapsed >= STM32_DATANAK_DELAY ||       /* Timeout has elapsed OR */
+              chan->buflen != buflen)                 /* Data has been partially transferred */
+            {
+              /* Break out and return the error */
+
+              break;
+            }
+        }
+    }
+
+  return ret;
+}
+
+/*******************************************************************************
+ * Name: stm32_out_transfer
+ *
+ * Description:
+ *   Transfer the 'buflen' bytes in 'buffer' through an OUT channel.
+ *
+ *******************************************************************************/
+
+static int stm32_out_transfer(FAR struct stm32_usbhost_s *priv, int chidx,
+                              FAR uint8_t *buffer, size_t buflen)
+{
+  FAR struct stm32_chan_s *chan;
+  uint16_t start;
+  uint16_t elapsed;
+  size_t xfrlen;
+  int ret = OK;
+
+  /* Loop until the transfer completes (i.e., buflen is decremented to zero)
+   * or a fatal error occurs (any error other than a simple NAK)
+   */
+
+  chan         = &priv->chan[chidx];
+  start        = stm32_getframe();
+
+  while (buflen > 0)
+    {
+      /* Transfer one packet at a time.  The hardware is capable of queueing
+       * multiple OUT packets, but I just haven't figured out how to handle
+       * the case where a single OUT packet in the group is NAKed.
+       */
+
+      xfrlen       = MIN(chan->maxpacket, buflen);
+      chan->buffer = buffer;
+      chan->buflen = xfrlen;
+
+      /* Set up for the wait BEFORE starting the transfer */
+
+      ret = stm32_chan_waitsetup(priv, chan);
+      if (ret != OK)
+        {
+          udbg("ERROR: Device disconnected\n");
+          return ret;
+        }
+
+      /* Set up for the transfer based on the direction and the endpoint type */
+
+      switch (chan->eptype)
+        {
+        default:
+        case OTGFS_EPTYPE_CTRL: /* Control */
+          {
+            /* This kind of transfer on control endpoints other than EP0 are not
+             * currently supported
+             */
+
+            return -ENOSYS;
+          }
+
+        case OTGFS_EPTYPE_ISOC: /* Isochronous */
+          {
+            /* Set up the OUT data PID */
+
+            chan->pid = OTGFS_PID_DATA0;
+          }
+          break;
+
+        case OTGFS_EPTYPE_BULK: /* Bulk */
+          {
+            /* Setup the OUT data PID */
+
+            chan->pid = chan->outdata1 ? OTGFS_PID_DATA1 : OTGFS_PID_DATA0;
+          }
+          break;
+
+        case OTGFS_EPTYPE_INTR: /* Interrupt */
+          {
+            /* Setup the OUT data PID */
+
+            chan->pid = chan->outdata1 ? OTGFS_PID_DATA1 : OTGFS_PID_DATA0;
+
+            /* Toggle the OUT data PID for the next transfer */
+
+            chan->outdata1 ^= true;
+          }
+        }
+
+      /* Start the transfer */
+
+      stm32_transfer_start(priv, chidx);
+
+      /* Wait for the transfer to complete and get the result */
+
+      ret = stm32_chan_wait(priv, chan);
+
+      /* Handle transfer failures */
+
+      if (ret != OK)
+        {
+          udbg("Transfer failed: %d\n", ret);
+
+          /* Check for a special case:  If (1) the transfer was NAKed and (2)
+           * no Tx FIFO empty or Rx FIFO not-empty event occurred, then we
+           * should be able to just flush the Rx and Tx FIFOs and try again.
+           * We can detect this latter case becasue the then the transfer
+           * buffer pointer and buffer size will be unaltered.
+           */
+
+          elapsed = stm32_getframe() - start;
+          if (ret != -EAGAIN ||                       /* Not a NAK condition OR */
+              elapsed >= STM32_DATANAK_DELAY ||       /* Timeout has elapsed OR */
+              chan->buflen != xfrlen)                 /* Data has been partially transferred */
+            {
+              /* Break out and return the error */
+
+              break;
+            }
+
+          /* Is this flush really necessary? What does the hardware do with the
+           * data in the FIFO when the NAK occurs?  Does it discard it?
+           */
+
+          stm32_flush_txfifos(OTGFS_GRSTCTL_TXFNUM_HALL);
+
+          /* Get the device a little time to catch up.  Then retry the transfer
+           * using the same buffer pointer and length.
+           */
+
+          usleep(20*1000);
+        }
+      else
+        {
+          /* Successfully transferred.  Update the buffer pointer and length */
+
+          buffer += xfrlen;
+          buflen -= xfrlen;
+        }
+    }
+
+  return ret;
+}
+
+/*******************************************************************************
  * Name: stm32_gint_wrpacket
  *
  * Description:
@@ -1923,7 +2172,7 @@ static void stm32_gint_disconnected(FAR struct stm32_usbhost_s *priv)
   if (!priv->connected)
     {
       /* Yes.. then we no longer connected */
- 
+
       ullvdbg("Disconnected\n");
 
       /* Are we bound to a class driver? */
@@ -2148,7 +2397,7 @@ static inline void stm32_gint_nptxfeisr(FAR struct stm32_usbhost_s *priv)
       unsigned int wrpackets = avail / chan->maxpacket;
       wrsize = wrpackets * chan->maxpacket;
     }
- 
+
   /* Otherwise, this will be the last packet to be sent in this transaction.
    * We now need to disable further NPTXFE interrupts.
    */
@@ -2238,7 +2487,7 @@ static inline void stm32_gint_ptxfeisr(FAR struct stm32_usbhost_s *priv)
       unsigned int wrpackets = avail / chan->maxpacket;
       wrsize = wrpackets * chan->maxpacket;
     }
- 
+
   /* Otherwise, this will be the last packet to be sent in this transaction.
    * We now need to disable further PTXFE interrupts.
    */
@@ -2382,7 +2631,7 @@ static inline void stm32_gint_hprtisr(FAR struct stm32_usbhost_s *priv)
               /* Set the Host Frame Interval Register for the 6KHz speed */
 
               stm32_putreg(STM32_OTGFS_HFIR, 6000);
- 
+
               /* Are we switching from FS to LS? */
 
               if ((hcfg & OTGFS_HCFG_FSLSPCS_MASK) != OTGFS_HCFG_FSLSPCS_LS6MHz)
@@ -2459,7 +2708,7 @@ static inline void stm32_gint_iisooxfrisr(FAR struct stm32_usbhost_s *priv)
   /* CHENA : Set to enable the channel
    * CHDIS : Set to stop transmitting/receiving data on a channel
    */
- 
+
   regval = stm32_getreg(STM32_OTGFS_HCCHAR(0));
   regval |= (OTGFS_HCCHAR_CHDIS | OTGFS_HCCHAR_CHENA);
   stm32_putreg(STM32_OTGFS_HCCHAR(0), regval);
@@ -2718,7 +2967,7 @@ static void stm32_txfe_enable(FAR struct stm32_usbhost_s *priv, int chidx)
   /* Disable all interrupts so that we have exclusive access to the GINTMSK
    * (it would be sufficent just to disable the GINT interrupt).
    */
- 
+
   flags = irqsave();
 
   /* Should we enable the periodic or non-peridic Tx FIFO empty interrupts */
@@ -2842,7 +3091,7 @@ static int stm32_enumerate(FAR struct usbhost_driver_s *drvr)
     }
 
   DEBUGASSERT(priv->smstate == SMSTATE_ATTACHED);
- 
+
   /* Allocate and initialize the control OUT channel */
 
   chidx = stm32_chan_alloc(priv);
@@ -2869,9 +3118,9 @@ static int stm32_enumerate(FAR struct usbhost_driver_s *drvr)
   priv->chan[chidx].indata1   = false;
   priv->chan[chidx].outdata1  = false;
 
-  /* USB 2.0 spec says at least 50ms delay before port reset */
+  /* USB 2.0 spec says at least 50ms delay before port reset.  We wait 100ms. */
 
-  up_mdelay(100);
+  usleep(100*1000);
 
   /* Reset the host port */
 
@@ -2956,12 +3205,12 @@ static int stm32_ep0configure(FAR struct usbhost_driver_s *drvr, uint8_t funcadd
 
   priv->chan[priv->ep0out].maxpacket = maxpacketsize;
   stm32_chan_configure(priv, priv->ep0out);
-  
+
   /* Configure the EP0 IN channel */
 
   priv->chan[priv->ep0in].maxpacket = maxpacketsize;
   stm32_chan_configure(priv, priv->ep0in);
-  
+
   stm32_givesem(&priv->exclsem);
   return OK;
 }
@@ -3427,7 +3676,7 @@ static int stm32_ctrlout(FAR struct usbhost_driver_s *drvr,
             }
 
           /* Handle the status IN phase */
- 
+
           if (ret == OK)
             {
               ret = stm32_ctrl_recvdata(priv, NULL, 0);
@@ -3492,145 +3741,33 @@ static int stm32_ctrlout(FAR struct usbhost_driver_s *drvr,
  *   - Never called from an interrupt handler.
  *
  *******************************************************************************/
- 
+
 static int stm32_transfer(FAR struct usbhost_driver_s *drvr, usbhost_ep_t ep,
                           FAR uint8_t *buffer, size_t buflen)
 {
-  struct stm32_usbhost_s *priv  = (struct stm32_usbhost_s *)drvr;
-  FAR struct stm32_chan_s *chan;
+  FAR struct stm32_usbhost_s *priv  = (FAR struct stm32_usbhost_s *)drvr;
   unsigned int chidx = (unsigned int)ep;
-  int ret = OK;
+  int ret;
 
   uvdbg("chidx: %d buflen: %d\n",  (unsigned int)ep, buflen);
 
   DEBUGASSERT(priv && buffer && chidx < STM32_MAX_TX_FIFOS && buflen > 0);
-  chan = &priv->chan[chidx];
 
   /* We must have exclusive access to the USB host hardware and state structures */
 
   stm32_takesem(&priv->exclsem);
 
-  /* Loop until the transfer completes (i.e., buflen is decremented to zero)
-   * or a fatal error occurs (any error other than a simple NAK)
-   */
+  /* Handle IN and OUT transfer slightly differently */
 
-  chan->buffer = buffer;
-  chan->buflen = buflen;
-
-  while (chan->buflen > 0)
+  if (priv->chan[chidx].in)
     {
-      /* Set up for the wait BEFORE starting the transfer */
-
-      ret = stm32_chan_waitsetup(priv, chan);
-      if (ret != OK)
-        {
-          udbg("ERROR: Device disconnected\n");
-          goto errout;
-        }
-
-      /* Set up for the transfer based on the direction and the endpoint type */
-
-      switch (chan->eptype)
-        {
-        default:
-        case OTGFS_EPTYPE_CTRL: /* Control */
-          {
-            /* This kind of transfer on control endpoints other than EP0 are not
-             * currently supported
-             */
-
-            ret = -ENOSYS;
-            goto errout;
-          }
-
-        case OTGFS_EPTYPE_ISOC: /* Isochronous */
-          {
-            /* Set up the IN/OUT data PID */
-
-            chan->pid = OTGFS_PID_DATA0;
-          }
-          break;
-
-        case OTGFS_EPTYPE_BULK: /* Bulk */
-          {
-            /* Handle the bulk transfer based on the direction of the transfer. */
-
-            if (chan->in)
-              {
-                /* Setup the IN data PID */
-
-                chan->pid = chan->indata1 ? OTGFS_PID_DATA1 : OTGFS_PID_DATA0;
-              }
-            else
-              {
-                /* Setup the OUT data PID */
-
-                chan->pid = chan->outdata1 ? OTGFS_PID_DATA1 : OTGFS_PID_DATA0;
-              }
-          }
-          break;
-
-        case OTGFS_EPTYPE_INTR: /* Interrupt */
-          {
-            /* Handle the interrupt transfer based on the direction of the
-             * transfer.
-             */
-
-            if (chan->in)
-              {
-                /* Setup the IN data PID */
-
-                chan->pid = chan->indata1 ? OTGFS_PID_DATA1 : OTGFS_PID_DATA0;
-
-                /* The indata1 data toggle will be updated in the Rx FIFO
-                 * interrupt handling logic as each packet is received.
-                 */
-              }
-            else
-              {
-                /* Setup the OUT data PID */
-
-                chan->pid = chan->outdata1 ? OTGFS_PID_DATA1 : OTGFS_PID_DATA0;
-
-                /* Toggle the OUT data PID for the next transfer */
-
-                chan->outdata1 ^= true;
-              }
-          }
-        }
-
-      /* There is a bug in the code at present.  With debug OFF, this driver
-       * overruns the typical FLASH device and there are many problems with
-       * NAKS sticking a big delay here allows the driver to work but with
-       * very poor performance when debug is off.
-       */
-
-#if !defined(CONFIG_DEBUG_VERBOSE) && !defined(CONFIG_DEBUG_USB)
-#warning "REVISIT this delay"
-      usleep(100*1000);
-#endif
-
-      /* Start the transfer */
-
-      stm32_transfer_start(priv, chidx);
-
-      /* Wait for the transfer to complete and get the result */
-
-      ret = stm32_chan_wait(priv, chan);
-
-      /* EAGAIN indicates that the device NAKed the transfer and we need
-       * do try again.  Anything else (success or other errors) will
-       * cause use to return
-       */
-
-      if (ret != OK)
-        {
-          udbg("Transfer failed: %d\n", ret);
-          break;
-        }
+      ret = stm32_in_transfer(priv, chidx, buffer, buflen);
+    }
+  else
+    {
+      ret = stm32_out_transfer(priv, chidx, buffer, buflen);
     }
 
-errout:
   stm32_givesem(&priv->exclsem);
   return ret;
 }
@@ -3663,7 +3800,7 @@ static void stm32_disconnect(FAR struct usbhost_driver_s *drvr)
   struct stm32_usbhost_s *priv = (struct stm32_usbhost_s *)drvr;
   priv->class = NULL;
 }
-  
+
 /*******************************************************************************
  * Initialization
  *******************************************************************************/
@@ -3979,7 +4116,7 @@ static inline int stm32_hw_initialize(FAR struct stm32_usbhost_s *priv)
   /* Set the PHYSEL bit in the GUSBCFG register to select the OTG FS serial
    * transceiver: "This bit is always 1 with write-only access"
    */
-  
+
   regval = stm32_getreg(STM32_OTGFS_GUSBCFG);;
   regval |= OTGFS_GUSBCFG_PHYSEL;
   stm32_putreg(STM32_OTGFS_GUSBCFG, regval);
@@ -4128,7 +4265,7 @@ FAR struct usbhost_driver_s *usbhost_initialize(int controller)
   stm32_configgpio(GPIO_OTGFS_SOF);
 #endif
 
-  /* Initialize the USB OTG FS core */     
+  /* Initialize the USB OTG FS core */
 
   stm32_hw_initialize(priv);
 
diff --git a/nuttx/configs/README.txt b/nuttx/configs/README.txt
index 7da0aa062..1b405b3e4 100644
--- a/nuttx/configs/README.txt
+++ b/nuttx/configs/README.txt
@@ -7,6 +7,7 @@ Table of Contents
   o Summary of Files
   o Supported Architectures
   o Configuring NuttX
+  o Building Symbol Tables
 
 Board-Specific Configurations
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -268,6 +269,7 @@ defconfig -- This is a configuration file similar to the Linux
       by default)
     CONFIG_DEBUG_GRAPHICS - enable NX graphics debug output
       (disabled by default)
+
     CONFIG_ARCH_LOWPUTC - architecture supports low-level, boot
       time console output
     CONFIG_MM_REGIONS - If the architecture includes multiple
@@ -331,7 +333,7 @@ defconfig -- This is a configuration file similar to the Linux
       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.    If defined, then this should be a relatively
+      a semaphore.  If defined, then this should be a relatively
       small number because this the number of maximumum of waiters
       on one semaphore (like 4 or 8).
     CONFIG_FDCLONE_DISABLE. Disable cloning of all file descriptors
@@ -375,6 +377,10 @@ defconfig -- This is a configuration file similar to the Linux
     CONFIG_SCHED_ONEXIT_MAX -  By default if CONFIG_SCHED_ONEXIT is selected,
       only a single on_exit() function is supported. That number can be
       increased by defined this setting to the number that you require.
+    CONFIG_USER_ENTRYPOINT - The name of the entry point for user
+      applications.  For the example applications this is of the form 'app_main'
+      where 'app' is the application name. If not defined, CONFIG_USER_ENTRYPOINT
+      defaults to user_start.
 
   System Logging:
     CONFIG_SYSLOG enables general system logging support.
@@ -546,10 +552,28 @@ defconfig -- This is a configuration file similar to the Linux
 
   Misc libc settings
 
-    CONFIG_NOPRINTF_FIELDWIDTH - sprintf-related logic is a
-       little smaller if we do not support fieldwidthes
-    CONFIG_LIBC_FLOATINGPOINT - By default, floating point
-      support in printf, sscanf, etc. is disabled.
+    CONFIG_NOPRINTF_FIELDWIDTH - sprintf-related logic is a little smaller
+      if we do not support fieldwidthes
+    CONFIG_LIBC_FLOATINGPOINT - By default, floating point support in printf,
+      sscanf, etc. is disabled.
+    CONFIG_LIBC_STRERROR - strerror() is useful because it decodes 'errno'
+      values into a human readable strings.  But it can also require
+      a lot of memory.  If this option is selected, strerror() will still
+      exist in the build but it will not decode error values.  This option
+      should be used by other logic to decide if it should use strerror() or
+      not.  For example, the NSH application will not use strerror() if this
+      option is not selected; perror() will not use strerror() is this option
+      is not selected (see also CONFIG_NSH_STRERROR).
+    CONFIG_LIBC_STRERROR_SHORT - If this option is selected, then strerror()
+      will use a shortened string when it decodes the error.  Specifically,
+      strerror() is simply use the string that is the common name for the
+      error.  For example, the 'errno' value of 2 will produce the string
+      "No such file or directory" if CONFIG_LIBC_STRERROR_SHORT is not
+      defined but the string "ENOENT" if CONFIG_LIBC_STRERROR_SHORT is
+      defined.
+    CONFIG_LIBC_PERROR_STDOUT - POSIX requires that perror() provide its output
+      on stderr.  This option may be defined, however, to provide perror() output
+      that is serialized with other stdout messages.
 
   Allow for architecture optimized implementations
 
@@ -1782,3 +1806,26 @@ command line like:
   
   cd tools
   ./configure.sh -a <app-dir> <board-name>/<config-dir>
+
+Building Symbol Tables
+^^^^^^^^^^^^^^^^^^^^^^
+
+Symbol tables are needed at several of the binfmt interfaces in order to bind
+a module to the base code.  These symbol tables can be tricky to create and
+will probably have to be tailored for any specific application, balancing
+the number of symbols and the size of the symbol table against the symbols
+required by the applications.
+
+The top-level System.map file is one good source of symbol information
+(which, or course, was just generated from the top-level nuttx file
+using the GNU 'nm' tool).
+
+There are also common-separated value (CSV) values in the source try that
+provide information about symbols.  In particular:
+
+  nuttx/syscall/syscall.csv - Describes the NuttX RTOS interface, and
+  nuttx/lib/lib.csv         - Describes the NuttX C library interface.
+
+There is a tool at nuttx/tools/mksymtab that will use these CSV files as
+input to generate a generic symbol table.  See nuttx/tools/README.txt for
+more information about using the mksymtab tool.
diff --git a/nuttx/configs/px4fmu/nsh/defconfig b/nuttx/configs/px4fmu/nsh/defconfig
index b991a68c0..89322daf9 100755
--- a/nuttx/configs/px4fmu/nsh/defconfig
+++ b/nuttx/configs/px4fmu/nsh/defconfig
@@ -510,6 +510,7 @@ CONFIG_HAVE_LIBM=y
 # CONFIG_SCHED_WAITPID - Enable the waitpid() API
 # CONFIG_SCHED_ATEXIT - Enabled the atexit() API
 #
+CONFIG_USER_ENTRYPOINT="nsh_main"
 #CONFIG_APPS_DIR=
 CONFIG_DEBUG=y
 CONFIG_DEBUG_VERBOSE=y
diff --git a/nuttx/configs/px4io/io/defconfig b/nuttx/configs/px4io/io/defconfig
index d710f398d..eea430a46 100755
--- a/nuttx/configs/px4io/io/defconfig
+++ b/nuttx/configs/px4io/io/defconfig
@@ -323,6 +323,7 @@ CONFIG_HAVE_LIBM=n
 # CONFIG_SCHED_WAITPID - Enable the waitpid() API
 # CONFIG_SCHED_ATEXIT - Enabled the atexit() API
 #
+CONFIG_USER_ENTRYPOINT="user_start"
 #CONFIG_APPS_DIR=
 CONFIG_DEBUG=n
 CONFIG_DEBUG_VERBOSE=n
diff --git a/nuttx/drivers/usbhost/usbhost_enumerate.c b/nuttx/drivers/usbhost/usbhost_enumerate.c
index 36bfa20d1..26b93bf36 100644
--- a/nuttx/drivers/usbhost/usbhost_enumerate.c
+++ b/nuttx/drivers/usbhost/usbhost_enumerate.c
@@ -42,6 +42,7 @@
 #include <sys/types.h>
 #include <stdint.h>
 #include <string.h>
+#include <unistd.h>
 #include <errno.h>
 #include <assert.h>
 #include <debug.h>
@@ -317,7 +318,7 @@ int usbhost_enumerate(FAR struct usbhost_driver_s *drvr, uint8_t funcaddr,
 
   DEBUGASSERT(drvr && class);
 
-  /* Allocate TD buffers for use in this function.  We will need two:
+  /* Allocate descriptor buffers for use in this function.  We will need two:
    * One for the request and one for the data buffer.
    */
 
@@ -400,7 +401,7 @@ int usbhost_enumerate(FAR struct usbhost_driver_s *drvr, uint8_t funcaddr,
       udbg("ERROR: SETADDRESS DRVR_CTRLOUT returned %d\n", ret);
       goto errout;
     }
-  up_mdelay(2);
+  usleep(2*1000);
 
   /* Modify control pipe with the provided USB device address */
 
@@ -461,9 +462,9 @@ int usbhost_enumerate(FAR struct usbhost_driver_s *drvr, uint8_t funcaddr,
       goto errout;
     }
 
-  /* Free the TD that we were using for the request buffer.  It is not needed
-   * further here but it may be needed by the class driver during its connection
-   * operations.
+  /* Free the descriptor buffer that we were using for the request buffer.
+   * It is not needed further here but it may be needed by the class driver
+   * during its connection operations.
    */
  
   DRVR_FREE(drvr, (uint8_t*)ctrlreq);
@@ -488,9 +489,9 @@ int usbhost_enumerate(FAR struct usbhost_driver_s *drvr, uint8_t funcaddr,
         }
     }
 
-  /* Some devices may require this delay before initialization */
+  /* Some devices may require some delay before initialization */
 
-  up_mdelay(100);
+  usleep(100*1000);
 
   /* Parse the configuration descriptor and bind to the class instance for the
    * device.  This needs to be the last thing done because the class driver
diff --git a/nuttx/drivers/usbhost/usbhost_storage.c b/nuttx/drivers/usbhost/usbhost_storage.c
index 853287371..2e3136b33 100644
--- a/nuttx/drivers/usbhost/usbhost_storage.c
+++ b/nuttx/drivers/usbhost/usbhost_storage.c
@@ -42,6 +42,7 @@
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
+#include <unistd.h>
 #include <semaphore.h>
 #include <assert.h>
 #include <errno.h>
@@ -724,6 +725,7 @@ static inline int usbhost_testunitready(FAR struct usbhost_state_s *priv)
           usbhost_dumpcsw((FAR struct usbmsc_csw_s *)priv->tbuffer);
         }
     }
+
   return result;
 }
 
@@ -1195,13 +1197,15 @@ static inline int usbhost_initvolume(FAR struct usbhost_state_s *priv)
   uvdbg("Get max LUN\n");
   ret = usbhost_maxlunreq(priv);
 
-  /* Wait for the unit to be ready */
-
-  for (retries = 0; retries < USBHOST_MAX_RETRIES && ret == OK; retries++)
+  for (retries = 0; retries < USBHOST_MAX_RETRIES /* && ret == OK */; retries++)
     {
       uvdbg("Test unit ready, retries=%d\n", retries);
 
-      /* Send TESTUNITREADY to see the unit is ready */
+      /* Wait just a bit */
+
+      usleep(50*1000);
+
+      /* Send TESTUNITREADY to see if the unit is ready */
 
       ret = usbhost_testunitready(priv);
       if (ret == OK)
diff --git a/nuttx/include/assert.h b/nuttx/include/assert.h
index 89606b6f6..31c9edf48 100644
--- a/nuttx/include/assert.h
+++ b/nuttx/include/assert.h
@@ -91,6 +91,10 @@
 
 #endif
 
+#ifndef assert
+#define assert ASSERT
+#endif
+
 /****************************************************************************
  * Included Files
  ****************************************************************************/
diff --git a/nuttx/include/libgen.h b/nuttx/include/libgen.h
index e65948376..0d42dc778 100644
--- a/nuttx/include/libgen.h
+++ b/nuttx/include/libgen.h
@@ -55,8 +55,8 @@ extern "C" {
 #define EXTERN extern
 #endif
 
-EXTERN char *basename(char *path);
-EXTERN char *dirname(char *path);
+EXTERN FAR char *basename(FAR char *path);
+EXTERN FAR char *dirname(FAR char *path);
 
 #undef EXTERN
 #ifdef __cplusplus
diff --git a/nuttx/include/netinet/ether.h b/nuttx/include/netinet/ether.h
index f11fef6db..69b8fbba6 100644
--- a/nuttx/include/netinet/ether.h
+++ b/nuttx/include/netinet/ether.h
@@ -63,7 +63,7 @@ extern "C" {
 #define EXTERN extern
 #endif
 
-EXTERN char *ether_ntoa(const struct ether_addr *addr);
+EXTERN FAR char *ether_ntoa(FAR const struct ether_addr *addr);
 EXTERN struct ether_addr *ether_aton(const char *asc);
 EXTERN int ether_ntohost(char *hostname, const struct ether_addr *addr);
 EXTERN int ether_hostton(const char *hostname, struct ether_addr *addr);
diff --git a/nuttx/include/nuttx/init.h b/nuttx/include/nuttx/init.h
index ecdad702f..2d1b3c693 100644
--- a/nuttx/include/nuttx/init.h
+++ b/nuttx/include/nuttx/init.h
@@ -68,7 +68,7 @@ extern "C" {
 
 /* This entry point must be supplied by the application */
 
-EXTERN int    user_start(int argc, char *argv[]);
+EXTERN int    CONFIG_USER_ENTRYPOINT(int argc, char *argv[]);
 
 /* Functions contained in os_task.c *****************************************/
 
diff --git a/nuttx/include/stdio.h b/nuttx/include/stdio.h
index 82bf0eaf6..e9218046c 100644
--- a/nuttx/include/stdio.h
+++ b/nuttx/include/stdio.h
@@ -128,6 +128,7 @@ EXTERN int    sprintf(FAR char *buf, const char *format, ...);
 EXTERN int    asprintf (FAR char **ptr, const char *fmt, ...);
 EXTERN int    snprintf(FAR char *buf, size_t size, const char *format, ...);
 EXTERN int    sscanf(const char *buf, const char *fmt, ...);
+EXTERN void   perror(FAR const char *s);
 
 EXTERN int    ungetc(int c, FAR FILE *stream);
 EXTERN int    vprintf(FAR const char *format, va_list ap);
diff --git a/nuttx/lib/Kconfig b/nuttx/lib/Kconfig
index 9e60201c2..d94a274f9 100644
--- a/nuttx/lib/Kconfig
+++ b/nuttx/lib/Kconfig
@@ -23,7 +23,7 @@ config NUNGET_CHARS
 	---help---
 		Number of characters that can be buffered by ungetc() (Only if NFILE_STREAMS > 0)
 
-config CONFIG_LIB_HOMEDIR
+config LIB_HOMEDIR
 	string "Home directory"
 	default "/"
 	depends on !DISABLE_ENVIRON
@@ -51,6 +51,46 @@ config LIBC_FLOATINGPOINT
 		By default, floating point
 		support in printf, sscanf, etc. is disabled.
 
+config LIBC_STRERROR
+	bool "Enable strerror"
+	default n
+	---help---
+		strerror() is useful because it decodes 'errno' values into a human readable
+		strings.  But it can also require a lot of memory.  If this option is selected,
+		strerror() will still exist in the build but it will not decode error values.
+		This option should be used by other logic to decide if it should use strerror()
+		or not.  For example, the NSH application will not use strerror() if this
+		option is not selected; perror() will not use strerror() is this option is not
+		selected (see also NSH_STRERROR).
+
+config LIBC_STRERROR_SHORT
+	bool "Use short error descriptions in strerror()"
+	default n
+	depends on LIBC_STRERROR
+	---help---
+		If this option is selected, then strerror() will use a shortened string when
+		it decodes the error.  Specifically, strerror() is simply use the string that
+		is the common name for the error.  For example, the 'errno' value of 2 will
+		produce the string "No such file or directory" is LIBC_STRERROR_SHORT
+		is not defined but the string "ENOENT" is LIBC_STRERROR_SHORT is defined.
+
+config LIBC_PERROR_STDOUT
+	bool "perror() to stdout"
+	default n
+	---help---
+		POSIX requires that perror() provide its output on stderr.  This option may
+		be defined, however, to provide perror() output that is serialized with
+		other stdout messages.
+
+config LIBC_PERROR_DEVNAME
+	string "perror() to device"
+	default "/dev/console"
+	depends on !LIBC_PERROR_STDOUT
+	---help---
+		Another non-standard option is to provide perror() output to a logging device
+		or file. LIBC_PERROR_DEVNAME may be defined to be any write-able,
+		character device (or file).
+
 config ARCH_LOWPUTC
 	bool "Low-level console output"
 	default "y"
@@ -68,7 +108,7 @@ config ENABLE_ARCH_OPTIMIZED_FUN
 
 		The architecture may provide custom versions of certain
 		standard header files:
-		config ARCH_MATH_H, CONFIG_ARCH_STDBOOL_H, CONFIG_ARCH_STDINT_H
+		config ARCH_MATH_H, ARCH_STDBOOL_H, ARCH_STDINT_H
 
 if 	ENABLE_ARCH_OPTIMIZED_FUN
 config ARCH_MEMCPY
diff --git a/nuttx/lib/README.txt b/nuttx/lib/README.txt
index 62e2fcce2..63d1c343c 100644
--- a/nuttx/lib/README.txt
+++ b/nuttx/lib/README.txt
@@ -45,3 +45,40 @@ directory:
 
  misc       - Nonstandard "glue" logic, debug.h, crc32.h, dirent.h
 
+Library Database
+================
+
+Information about functions available in the NuttX C library information is
+maintained in a database.  That "database" is implemented as a simple comma-
+separated-value file, lib.csv.  Most spreadsheets programs will accept this
+format and can be used to maintain the library database.
+
+This library database will (eventually) be used to generate symbol library
+symbol table information that can be exported to external applications.
+
+The format of the CSV file for each line is:
+
+  Field 1: Function name
+  Field 2: The header file that contains the function prototype
+  Field 3: Condition for compilation
+  Field 4: The type of function return value.
+  Field 5 - N+5: The type of each of the N formal parameters of the function
+
+Each type field has a format as follows:
+
+  type name:
+        For all simpler types
+  formal type | actual type: 
+        For array types where the form of the formal (eg. int parm[2])
+        differs from the type of actual passed parameter (eg. int*).  This
+        is necessary because you cannot do simple casts to array types.
+  formal type | union member actual type | union member fieldname:
+        A similar situation exists for unions.  For example, the formal
+        parameter type union sigval -- You cannot cast a uintptr_t to
+        a union sigval, but you can cast to the type of one of the union
+        member types when passing the actual paramter.  Similarly, we
+        cannot cast a union sigval to a uinptr_t either.  Rather, we need
+        to cast a specific union member fieldname to uintptr_t.
+
+NOTE: The tool mksymtab can be used to generate a symbol table from this CSV
+file.  See nuttx/tools/README.txt for further details about the use of mksymtab.
diff --git a/nuttx/lib/lib.csv b/nuttx/lib/lib.csv
new file mode 100644
index 000000000..aa63653f5
--- /dev/null
+++ b/nuttx/lib/lib.csv
@@ -0,0 +1,170 @@
+"_inet_ntoa","arpa/inet.h","!defined(CONFIG_NET_IPv6) && !defined(CONFIG_CAN_PASS_STRUCTS)","FAR char","in_addr_t"
+"abort","stdlib.h","","void"
+"abs","stdlib.h","","int","int"
+"asprintf","stdio.h","","int","FAR char **","const char *","..."
+"avsprintf","stdio.h","","int","FAR char **","const char *","va_list"
+"b16atan2","fixedmath.h","","b16_t","b16_t","b16_t"
+"b16cos","fixedmath.h","","b16_t","b16_t"
+"b16divb16","fixedmath.h","","b16_t","b16_t","b16_t"
+"b16mulb16","fixedmath.h","","b16_t","b16_t","b16_t"
+"b16sin","fixedmath.h","","b16_t","b16_t"
+"b16sqr","fixedmath.h","","b16_t","b16_t"
+"basename","libgen.h","","FAR char","FAR char *"
+"cfgetspeed","termios.h","CONFIG_NFILE_DESCRIPTORS > 0 && defined(CONFIG_SERIAL_TERMIOS)","speed_t","FAR const struct termios *"
+"cfsetspeed","termios.h","CONFIG_NFILE_DESCRIPTORS > 0 && defined(CONFIG_SERIAL_TERMIOS)","int","FAR struct termios *","speed_t"
+"chdir","unistd.h","CONFIG_NFILE_DESCRIPTORS > 0 && !defined(CONFIG_DISABLE_ENVIRON)","int","FAR const char *"
+"crc32","crc32.h","","uint32_t","FAR const uint8_t *","size_t"
+"crc32part","crc32.h","","uint32_t","FAR const uint8_t *","size_t","uint32_t"
+"dbg","debug.h","!defined(CONFIG_CPP_HAVE_VARARGS) && defined(CONFIG_DEBUG)","int","const char *","..."
+"dbg_enable","debug.h","defined(CONFIG_DEBUG_ENABLE)","void","bool"
+"dirname","libgen.h","","FAR char","FAR char *"
+"dq_addafter","queue.h","","void","FAR dq_entry_t *","FAR dq_entry_t *","FAR dq_queue_t *"
+"dq_addbefore","queue.h","","void","FAR dq_entry_t *","FAR dq_entry_t *","FAR dq_queue_t *"
+"dq_addfirst","queue.h","","void","FAR dq_entry_t *","dq_queue_t *"
+"dq_addlast","queue.h","","void","FAR dq_entry_t *","dq_queue_t *"
+"dq_rem","queue.h","","void","FAR dq_entry_t *","dq_queue_t *"
+"dq_remfirst","queue.h","","FAR dq_entry_t","dq_queue_t *"
+"dq_remlast","queue.h","","FAR dq_entry_t","dq_queue_t *"
+"ether_ntoa","netinet/ether.h","","FAR char","FAR const struct ether_addr *"
+"fclose","stdio.h","CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_NFILE_STREAMS > 0","int","FAR FILE *"
+"fdopen","stdio.h","CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_NFILE_STREAMS > 0","FAR FILE","int","FAR const char *"
+"fflush","stdio.h","CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_NFILE_STREAMS > 0","int","FAR FILE *"
+"fgetc","stdio.h","CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_NFILE_STREAMS > 0","int","FAR FILE *"
+"fgetpos","stdio.h","CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_NFILE_STREAMS > 0","int","FAR FILE *","FAR fpos_t *"
+"fgets","stdio.h","CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_NFILE_STREAMS > 0","FAR char","FAR char *","int","FAR FILE *"
+"fileno","stdio.h","","int","FAR FILE *"
+"fopen","stdio.h","CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_NFILE_STREAMS > 0","FAR FILE","FAR const char *","FAR const char *"
+"fprintf","stdio.h","CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_NFILE_STREAMS > 0","int","FAR FILE *","FAR const char *","..."
+"fputc","stdio.h","CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_NFILE_STREAMS > 0","int","int c","FAR FILE *"
+"fputs","stdio.h","CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_NFILE_STREAMS > 0","int","FAR const char *","FAR FILE *"
+"fread","stdio.h","CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_NFILE_STREAMS > 0","size_t","FAR void *","size_t","size_t","FAR FILE *"
+"fseek","stdio.h","CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_NFILE_STREAMS > 0","int","FAR FILE *","long int","int"
+"fsetpos","stdio.h","CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_NFILE_STREAMS > 0","int","FAR FILE *","FAR fpos_t *"
+"ftell","stdio.h","CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_NFILE_STREAMS > 0","long","FAR FILE *"
+"fwrite","stdio.h","CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_NFILE_STREAMS > 0","size_t","FAR const void *","size_t","size_t","FAR FILE *"
+"getcwd","unistd.h","CONFIG_NFILE_DESCRIPTORS > 0 && !defined(CONFIG_DISABLE_ENVIRON)","FAR char","FAR char *","size_t"
+"getopt","unistd.h","","int","int","FAR char *const[]","FAR const char *"
+"getoptargp","unistd.h","","FAR char *"
+"getoptindp","unistd.h","","int"
+"getoptoptp","unistd.h","","int"
+"gets","stdio.h","CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_NFILE_STREAMS > 0","FAR char","FAR char *"
+"gmtime","time.h","","struct tm","const time_t *"
+"gmtime_r","time.h","","FAR struct tm","FAR const time_t *","FAR struct tm *"
+"htonl","arpa/inet.h","","uint32_t","uint32_t"
+"htons","arpa/inet.h","","uint16_t","uint16_t"
+"imaxabs","stdlib.h","","intmax_t","intmax_t"
+"inet_addr","arpa/inet.h","","in_addr_t","FAR const char "
+"inet_ntoa","arpa/inet.h","!defined(CONFIG_NET_IPv6) && defined(CONFIG_CAN_PASS_STRUCTS)","FAR char","struct in_addr"
+"inet_ntop","arpa/inet.h","","FAR const char","int","FAR const void *","FAR char *","socklen_t"
+"inet_pton","arpa/inet.h","","int","int","FAR const char *","FAR void *"
+"labs","stdlib.h","","long int","long int"
+"lib_dumpbuffer","debug.h","","void","FAR const char *","FAR const uint8_t *","unsigned int"
+"lib_lowprintf","debug.h","","int","FAR const char *","..."
+"lib_rawprintf","debug.h","","int","FAR const char *","..."
+"llabs","stdlib.h","defined(CONFIG_HAVE_LONG_LONG)","long long int","long long int"
+"lldbg","debug.h","!defined(CONFIG_CPP_HAVE_VARARGS) && defined(CONFIG_DEBUG) && defined(CONFIG_ARCH_LOWPUTC)","int","const char *","..."
+"llvdbg","debug.h","!defined(CONFIG_CPP_HAVE_VARARGS) && defined(CONFIG_DEBUG) && defined(CONFIG_DEBUG_VERBOSE) && defined(CONFIG_ARCH_LOWPUTC)","int","const char *","..."
+"match","","","int","const char *","const char *"
+"memccpy","string.h","","FAR void","FAR void *","FAR const void *","int c","size_t"
+"memchr","string.h","","FAR void","FAR const void *","int c","size_t"
+"memcmp","string.h","","int","FAR const void *","FAR const void *","size_t"
+"memcpy","string.h","","FAR void","FAR void *","FAR const void *","size_t"
+"memmove","string.h","","FAR void","FAR void *","FAR const void *","size_t"
+"memset","string.h","","FAR void","FAR void *","int c","size_t"
+"mktime","time.h","","time_t","const struct tm *"
+"mq_getattr","mqueue.h","!defined(CONFIG_DISABLE_MQUEUE)","int","mqd_t","struct mq_attr *"
+"mq_setattr","mqueue.h","!defined(CONFIG_DISABLE_MQUEUE)","int","mqd_t","const struct mq_attr *","struct mq_attr *"
+"ntohl","arpa/inet.h","","uint32_t","uint32_t"
+"ntohs","arpa/inet.h","","uint16_t","uint16_t"
+"perror","stdio.h","CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_NFILE_STREAMS > 0","void","FAR const char *"
+"printf","stdio.h","","int","const char *","..."
+"pthread_attr_destroy","pthread.h","!defined(CONFIG_DISABLE_PTHREAD)","int","FAR pthread_attr_t *"
+"pthread_attr_getinheritsched","pthread.h","!defined(CONFIG_DISABLE_PTHREAD)","int","FAR const pthread_attr_t *","FAR int *"
+"pthread_attr_getschedparam","pthread.h","!defined(CONFIG_DISABLE_PTHREAD)","int","FAR pthread_attr_t *","FAR struct sched_param *"
+"pthread_attr_getschedpolicy","pthread.h","!defined(CONFIG_DISABLE_PTHREAD)","int","FAR pthread_attr_t *","int *"
+"pthread_attr_getstacksize","pthread.h","!defined(CONFIG_DISABLE_PTHREAD)","int","FAR pthread_attr_t *","FAR long *"
+"pthread_attr_init","pthread.h","!defined(CONFIG_DISABLE_PTHREAD)","int","FAR pthread_attr_t *"
+"pthread_attr_setinheritsched","pthread.h","!defined(CONFIG_DISABLE_PTHREAD)","int","FAR pthread_attr_t *","int"
+"pthread_attr_setschedparam","pthread.h","!defined(CONFIG_DISABLE_PTHREAD)","int","FAR pthread_attr_t *","FAR const struct sched_param *"
+"pthread_attr_setschedpolicy","pthread.h","!defined(CONFIG_DISABLE_PTHREAD)","int","FAR pthread_attr_t *","int"
+"pthread_attr_setstacksize","pthread.h","!defined(CONFIG_DISABLE_PTHREAD)","int","FAR pthread_attr_t *","long"
+"pthread_barrierattr_destroy","pthread.h","!defined(CONFIG_DISABLE_PTHREAD)","int","FAR pthread_barrierattr_t *"
+"pthread_barrierattr_getpshared","pthread.h","!defined(CONFIG_DISABLE_PTHREAD)","int","FAR const pthread_barrierattr_t *","FAR int *"
+"pthread_barrierattr_init","pthread.h","!defined(CONFIG_DISABLE_PTHREAD)","int","FAR pthread_barrierattr_t *"
+"pthread_barrierattr_setpshared","pthread.h","!defined(CONFIG_DISABLE_PTHREAD)","int","FAR pthread_barrierattr_t *","int"
+"pthread_condattr_destroy","pthread.h","!defined(CONFIG_DISABLE_PTHREAD)","int","FAR pthread_condattr_t *"
+"pthread_condattr_init","pthread.h","!defined(CONFIG_DISABLE_PTHREAD)","int","FAR pthread_condattr_t *"
+"pthread_mutexattr_destroy","pthread.h","!defined(CONFIG_DISABLE_PTHREAD)","int","FAR pthread_mutexattr_t *"
+"pthread_mutexattr_getpshared","pthread.h","!defined(CONFIG_DISABLE_PTHREAD)","int","FAR pthread_mutexattr_t *","FAR int *"
+"pthread_mutexattr_gettype","pthread.h","!defined(CONFIG_DISABLE_PTHREAD) && defined(CONFIG_MUTEX_TYPES)","int","const pthread_mutexattr_t *","int *"
+"pthread_mutexattr_init","pthread.h","!defined(CONFIG_DISABLE_PTHREAD)","int","FAR pthread_mutexattr_t *"
+"pthread_mutexattr_setpshared","pthread.h","!defined(CONFIG_DISABLE_PTHREAD)","int","FAR pthread_mutexattr_t *","int "
+"pthread_mutexattr_settype","pthread.h","!defined(CONFIG_DISABLE_PTHREAD) && defined(CONFIG_MUTEX_TYPES)","int","pthread_mutexattr_t *","int"
+"puts","stdio.h","CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_NFILE_STREAMS > 0","int","FAR const char *"
+"qsort","stdlib.h","","void","void *","size_t","size_t","int(*)(const void *","const void *)"
+"rand","stdlib.h","","int"
+"readdir_r","dirent.h","CONFIG_NFILE_DESCRIPTORS > 0","int","FAR DIR *","FAR struct dirent *","FAR struct dirent **"
+"rint","","","double_t","double_t"
+"sched_get_priority_max","sched.h","","int","int"
+"sched_get_priority_min","sched.h","","int","int"
+"sem_getvalue","semaphore.h","","int","FAR sem_t *","FAR int *"
+"sem_init","semaphore.h","","int","FAR sem_t *","int","unsigned int"
+"sigaddset","signal.h","!defined(CONFIG_DISABLE_SIGNALS)","int","FAR sigset_t *","int"
+"sigdelset","signal.h","!defined(CONFIG_DISABLE_SIGNALS)","int","FAR sigset_t *","int"
+"sigemptyset","signal.h","!defined(CONFIG_DISABLE_SIGNALS)","int","FAR sigset_t *"
+"sigfillset","signal.h","!defined(CONFIG_DISABLE_SIGNALS)","int","FAR sigset_t *"
+"sigismember","signal.h","!defined(CONFIG_DISABLE_SIGNALS)","int","FAR const sigset_t *","int"
+"snprintf","stdio.h","","int","FAR char *","size_t","const char *","..."
+"sprintf","stdio.h","","int","FAR char *","const char *","..."
+"sq_addafter","queue.h","","void","FAR sq_entry_t *","FAR sq_entry_t *","FAR sq_queue_t *"
+"sq_addfirst","queue.h","","void","FAR sq_entry_t *","sq_queue_t *"
+"sq_addlast","queue.h","","void","FAR sq_entry_t *","sq_queue_t *"
+"sq_rem","queue.h","","void","FAR sq_entry_t *","sq_queue_t *"
+"sq_remafter","queue.h","","FAR sq_entry_t","FAR sq_entry_t *","sq_queue_t *"
+"sq_remfirst","queue.h","","FAR sq_entry_t","sq_queue_t *"
+"sq_remlast","queue.h","","FAR sq_entry_t","sq_queue_t *"
+"srand","stdlib.h","","void","unsigned int"
+"sscanf","stdio.h","","int","const char *","const char *","..."
+"strcasecmp","string.h","","int","FAR const char *","FAR const char *"
+"strcasestr","string.h","","FAR char","FAR const char *","FAR const char *"
+"strcat","string.h","","FAR char","FAR char *","FAR const char *"
+"strchr","string.h","","FAR char","FAR const char *","int"
+"strcmp","string.h","","int","FAR const char *","FAR const char *"
+"strcpy","string.h","","FAR char","char *","FAR const char *"
+"strcspn","string.h","","size_t","FAR const char *","FAR const char *"
+"strdup","string.h","","FAR char","FAR const char *"
+"strerror","string.h","","FAR const char","int"
+"strftime","time.h","","size_t","char *","size_t","const char *","const struct tm *"
+"strlen","string.h","","size_t","FAR const char *"
+"strncasecmp","string.h","","int","FAR const char *","FAR const char *","size_t"
+"strncat","string.h","","FAR char","FAR char *","FAR const char *","size_t"
+"strncmp","string.h","","int","FAR const char *","FAR const char *","size_t"
+"strncpy","string.h","","FAR char","char *","FAR const char *","size_t"
+"strndup","string.h","","FAR char","FAR const char *","size_t"
+"strnlen","string.h","","size_t","FAR const char *","size_t"
+"strpbrk","string.h","","FAR char","FAR const char *","FAR const char *"
+"strrchr","string.h","","FAR char","FAR const char *","int"
+"strspn","string.h","","size_t","FAR const char *","FAR const char *"
+"strstr","string.h","","FAR char","FAR const char *","FAR const char *"
+"strtod","stdlib.h","","double_t","const char *str","char **endptr"
+"strtok","string.h","","FAR char","FAR char *","FAR const char *"
+"strtok_r","string.h","","FAR char","FAR char *","FAR const char *","FAR char **"
+"strtol","string.h","","long","const char *","char **","int"
+"strtoll","stdlib.h","defined(CONFIG_HAVE_LONG_LONG)","long long","const char *nptr","char **endptr","int base"
+"strtoul","stdlib.h","","unsigned long","const char *","char **","int"
+"strtoull","stdlib.h","defined(CONFIG_HAVE_LONG_LONG)","unsigned long long","const char *","char **","int"
+"tcflush","termios.h","CONFIG_NFILE_DESCRIPTORS > 0 && defined(CONFIG_SERIAL_TERMIOS)","int","int","int"
+"tcgetattr","termios.h","CONFIG_NFILE_DESCRIPTORS > 0 && defined(CONFIG_SERIAL_TERMIOS)","int","int","FAR struct termios *"
+"tcsetattr","termios.h","CONFIG_NFILE_DESCRIPTORS > 0 && defined(CONFIG_SERIAL_TERMIOS)","int","int","int","FAR const struct termios *"
+"telldir","dirent.h","CONFIG_NFILE_DESCRIPTORS > 0","off_t","FAR DIR *"
+"time","time.h","","time_t","time_t *"
+"ub16divub16","fixedmath.h","","ub16_t","ub16_t","ub16_t"
+"ub16mulub16","fixedmath.h","","ub16_t","ub16_t","ub16_t"
+"ub16sqr","fixedmath.h","","ub16_t","ub16_t"
+"ungetc","stdio.h","CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_NFILE_STREAMS > 0","int","int","FAR FILE *"
+"vdbg","debug.h","!defined(CONFIG_CPP_HAVE_VARARGS) && defined(CONFIG_DEBUG) && defined(CONFIG_DEBUG_VERBOSE)","int","const char *","..."
+"vfprintf","stdio.h","CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_NFILE_STREAMS > 0","int","FAR FILE *","const char *","va_list"
+"vprintf","stdio.h","CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_NFILE_STREAMS > 0","int","FAR const char *","va_list"
+"vsnprintf","stdio.h","","int","FAR char *","size_t","const char *","va_list"
+"vsprintf","stdio.h","","int","FAR char *","const char *","va_list"
+"vsscanf","stdio.h","","int","char *","const char *","va_list"
diff --git a/nuttx/lib/libgen/lib_basename.c b/nuttx/lib/libgen/lib_basename.c
index 5741d976a..986c6b852 100644
--- a/nuttx/lib/libgen/lib_basename.c
+++ b/nuttx/lib/libgen/lib_basename.c
@@ -1,8 +1,8 @@
 /****************************************************************************
  * lib/libgen/lib_basename.c
  *
- *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Copyright (C) 2007, 2009, 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
@@ -78,7 +78,7 @@ static char g_retchar[2];
  *
  ****************************************************************************/
 
-char *basename(char *path)
+FAR char *basename(FAR char *path)
 {
   char *p;
   int   len;
diff --git a/nuttx/lib/libgen/lib_dirname.c b/nuttx/lib/libgen/lib_dirname.c
index c416d8aca..248293a60 100644
--- a/nuttx/lib/libgen/lib_dirname.c
+++ b/nuttx/lib/libgen/lib_dirname.c
@@ -1,8 +1,8 @@
 /****************************************************************************
  * lib/libgen/lib_dirname.c
  *
- *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Copyright (C) 2007, 2009, 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
@@ -78,7 +78,7 @@ static char g_retchar[2];
  *
  ****************************************************************************/
 
-char *dirname(char *path)
+FAR char *dirname(FAR char *path)
 {
   char *p;
   int   len;
diff --git a/nuttx/lib/math/lib_b16atan2.c b/nuttx/lib/math/lib_b16atan2.c
index a39652451..8792fa087 100644
--- a/nuttx/lib/math/lib_b16atan2.c
+++ b/nuttx/lib/math/lib_b16atan2.c
@@ -2,7 +2,7 @@
  * lib/math/lib_b16atan2.c
  *
  *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/math/lib_b16cos.c b/nuttx/lib/math/lib_b16cos.c
index 69cc61042..7547871f6 100644
--- a/nuttx/lib/math/lib_b16cos.c
+++ b/nuttx/lib/math/lib_b16cos.c
@@ -2,7 +2,7 @@
  * lib/math/lib_b16cos.c
  *
  *   Copyright (C) 2007, 2008, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/math/lib_b16sin.c b/nuttx/lib/math/lib_b16sin.c
index fc4b5e566..1eee17993 100644
--- a/nuttx/lib/math/lib_b16sin.c
+++ b/nuttx/lib/math/lib_b16sin.c
@@ -2,7 +2,7 @@
  * lib/math/lib_b16sin.c
  *
  *   Copyright (C) 2008, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/math/lib_fixedmath.c b/nuttx/lib/math/lib_fixedmath.c
index b20158dc8..c1a710e73 100644
--- a/nuttx/lib/math/lib_fixedmath.c
+++ b/nuttx/lib/math/lib_fixedmath.c
@@ -2,7 +2,7 @@
  * lib/math/lib_fixedmath.c
  *
  *   Copyright (C) 2008-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
@@ -165,7 +165,7 @@ ub16_t ub16mulub16(ub16_t m1, ub16_t m2)
 }
 
 /****************************************************************************
- * Name: b16divb16
+ * Name: b16sqr
  **************************************************************************/
 
 b16_t b16sqr(b16_t a)
diff --git a/nuttx/lib/math/lib_rint.c b/nuttx/lib/math/lib_rint.c
index b122870b8..bd861eced 100644
--- a/nuttx/lib/math/lib_rint.c
+++ b/nuttx/lib/math/lib_rint.c
@@ -2,7 +2,7 @@
  * lib/math/lib_rint.c
  *
  *   Copyright (C) 2007, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/net/lib_etherntoa.c b/nuttx/lib/net/lib_etherntoa.c
index 253549183..f89f205a2 100644
--- a/nuttx/lib/net/lib_etherntoa.c
+++ b/nuttx/lib/net/lib_etherntoa.c
@@ -2,7 +2,7 @@
  * lib/net/lib_etherntoa.c
  *
  *   Copyright (C) 2007, 2008, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
@@ -58,7 +58,7 @@
  *
  ****************************************************************************/
 
-char *ether_ntoa(const struct ether_addr *addr)
+FAR char *ether_ntoa(FAR const struct ether_addr *addr)
 {
   static char buffer[20];
   sprintf(buffer, "%02x:%02x:%02x:%02x:%02x:%02x",
diff --git a/nuttx/lib/net/lib_htonl.c b/nuttx/lib/net/lib_htonl.c
index f43b52505..e4c3e5383 100644
--- a/nuttx/lib/net/lib_htonl.c
+++ b/nuttx/lib/net/lib_htonl.c
@@ -2,7 +2,7 @@
  * lib/net/lib_ntohl.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/net/lib_htons.c b/nuttx/lib/net/lib_htons.c
index 66d736a33..b4117e1dc 100644
--- a/nuttx/lib/net/lib_htons.c
+++ b/nuttx/lib/net/lib_htons.c
@@ -2,7 +2,7 @@
  * lib/net/lib_htons.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/pthread/pthread_attrdestroy.c b/nuttx/lib/pthread/pthread_attrdestroy.c
index fdadab743..103528c7e 100644
--- a/nuttx/lib/pthread/pthread_attrdestroy.c
+++ b/nuttx/lib/pthread/pthread_attrdestroy.c
@@ -2,7 +2,7 @@
  * lib/pthread/pthread_attrdestroy.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/pthread/pthread_attrgetinheritsched.c b/nuttx/lib/pthread/pthread_attrgetinheritsched.c
index c1b764faa..02d6e0b7c 100644
--- a/nuttx/lib/pthread/pthread_attrgetinheritsched.c
+++ b/nuttx/lib/pthread/pthread_attrgetinheritsched.c
@@ -2,7 +2,7 @@
  * lib/pthread/pthread_attrgetinheritsched.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/pthread/pthread_attrgetschedparam.c b/nuttx/lib/pthread/pthread_attrgetschedparam.c
index fa456f61a..c6bf55dea 100644
--- a/nuttx/lib/pthread/pthread_attrgetschedparam.c
+++ b/nuttx/lib/pthread/pthread_attrgetschedparam.c
@@ -2,7 +2,7 @@
  * lib/pthread/pthread_attrgetschedparam.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/pthread/pthread_attrgetschedpolicy.c b/nuttx/lib/pthread/pthread_attrgetschedpolicy.c
index b4f762b51..c42b828c9 100644
--- a/nuttx/lib/pthread/pthread_attrgetschedpolicy.c
+++ b/nuttx/lib/pthread/pthread_attrgetschedpolicy.c
@@ -2,7 +2,7 @@
  * lib/pthread/pthread_attrgetschedpolicy.c
  *
  *   Copyright (C) 2007, 2008, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/pthread/pthread_attrgetstacksize.c b/nuttx/lib/pthread/pthread_attrgetstacksize.c
index 06e40b5fb..2faa586ba 100644
--- a/nuttx/lib/pthread/pthread_attrgetstacksize.c
+++ b/nuttx/lib/pthread/pthread_attrgetstacksize.c
@@ -2,7 +2,7 @@
  * lib/pthread/pthread_attrgetstacksize.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/pthread/pthread_attrinit.c b/nuttx/lib/pthread/pthread_attrinit.c
index 7df73e54b..d06a535d7 100644
--- a/nuttx/lib/pthread/pthread_attrinit.c
+++ b/nuttx/lib/pthread/pthread_attrinit.c
@@ -2,7 +2,7 @@
  * lib/pthread/pthread_attrinit.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/pthread/pthread_attrsetinheritsched.c b/nuttx/lib/pthread/pthread_attrsetinheritsched.c
index ebdc9b3e4..df2c2fba3 100644
--- a/nuttx/lib/pthread/pthread_attrsetinheritsched.c
+++ b/nuttx/lib/pthread/pthread_attrsetinheritsched.c
@@ -2,7 +2,7 @@
  * lib/pthread/pthread_attrsetinheritsched.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/pthread/pthread_attrsetschedparam.c b/nuttx/lib/pthread/pthread_attrsetschedparam.c
index 4f65bcd8c..c2ab4d1c4 100644
--- a/nuttx/lib/pthread/pthread_attrsetschedparam.c
+++ b/nuttx/lib/pthread/pthread_attrsetschedparam.c
@@ -2,7 +2,7 @@
  * lib/pthread/pthread_attrsetschedparam.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/pthread/pthread_attrsetschedpolicy.c b/nuttx/lib/pthread/pthread_attrsetschedpolicy.c
index b4b1fd054..4e43e635d 100644
--- a/nuttx/lib/pthread/pthread_attrsetschedpolicy.c
+++ b/nuttx/lib/pthread/pthread_attrsetschedpolicy.c
@@ -2,7 +2,7 @@
  * lib/pthread/pthread_attrsetschedpolicy.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/pthread/pthread_attrsetstacksize.c b/nuttx/lib/pthread/pthread_attrsetstacksize.c
index a2de8ac78..8a826dd3a 100644
--- a/nuttx/lib/pthread/pthread_attrsetstacksize.c
+++ b/nuttx/lib/pthread/pthread_attrsetstacksize.c
@@ -2,7 +2,7 @@
  * lib/pthread/pthread_attrsetstacksize.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/pthread/pthread_barrierattrdestroy.c b/nuttx/lib/pthread/pthread_barrierattrdestroy.c
index 7498bc4f2..6d16b9cff 100644
--- a/nuttx/lib/pthread/pthread_barrierattrdestroy.c
+++ b/nuttx/lib/pthread/pthread_barrierattrdestroy.c
@@ -2,7 +2,7 @@
  * lib/pthread/pthread_barrierattrdestroy.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/pthread/pthread_barrierattrgetpshared.c b/nuttx/lib/pthread/pthread_barrierattrgetpshared.c
index f4b4f64c1..d29bc6dfc 100644
--- a/nuttx/lib/pthread/pthread_barrierattrgetpshared.c
+++ b/nuttx/lib/pthread/pthread_barrierattrgetpshared.c
@@ -2,7 +2,7 @@
  * lib/pthread/pthread_barrierattrgetpshared.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/pthread/pthread_barrierattrinit.c b/nuttx/lib/pthread/pthread_barrierattrinit.c
index 47bbb8eb4..b5f35ca91 100644
--- a/nuttx/lib/pthread/pthread_barrierattrinit.c
+++ b/nuttx/lib/pthread/pthread_barrierattrinit.c
@@ -2,7 +2,7 @@
  * lib/pthread/pthread_barrierattrinit.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/pthread/pthread_barrierattrsetpshared.c b/nuttx/lib/pthread/pthread_barrierattrsetpshared.c
index a982eea39..d0eecbf5a 100644
--- a/nuttx/lib/pthread/pthread_barrierattrsetpshared.c
+++ b/nuttx/lib/pthread/pthread_barrierattrsetpshared.c
@@ -2,7 +2,7 @@
  * lib/pthread/pthread_barrierattrsetpshared.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/pthread/pthread_condattrdestroy.c b/nuttx/lib/pthread/pthread_condattrdestroy.c
index c55dcd4e3..d6c3df5d1 100644
--- a/nuttx/lib/pthread/pthread_condattrdestroy.c
+++ b/nuttx/lib/pthread/pthread_condattrdestroy.c
@@ -2,7 +2,7 @@
  * lib/pthread/pthread_condattrdestroy.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/pthread/pthread_condattrinit.c b/nuttx/lib/pthread/pthread_condattrinit.c
index 75f01a11b..5721c6159 100644
--- a/nuttx/lib/pthread/pthread_condattrinit.c
+++ b/nuttx/lib/pthread/pthread_condattrinit.c
@@ -2,7 +2,7 @@
  * lib/pthread/pthread_condattrinit.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/pthread/pthread_mutexattrdestroy.c b/nuttx/lib/pthread/pthread_mutexattrdestroy.c
index 59e81528b..e9868df68 100644
--- a/nuttx/lib/pthread/pthread_mutexattrdestroy.c
+++ b/nuttx/lib/pthread/pthread_mutexattrdestroy.c
@@ -2,7 +2,7 @@
  * lib/pthread/pthread_mutexattrdestroy.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/pthread/pthread_mutexattrgetpshared.c b/nuttx/lib/pthread/pthread_mutexattrgetpshared.c
index e5e09bbbe..bc6379db5 100644
--- a/nuttx/lib/pthread/pthread_mutexattrgetpshared.c
+++ b/nuttx/lib/pthread/pthread_mutexattrgetpshared.c
@@ -2,7 +2,7 @@
  * lib/pthread/pthread_mutexattrgetpshared.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/pthread/pthread_mutexattrgettype.c b/nuttx/lib/pthread/pthread_mutexattrgettype.c
index 93cbe3601..5fb10f301 100644
--- a/nuttx/lib/pthread/pthread_mutexattrgettype.c
+++ b/nuttx/lib/pthread/pthread_mutexattrgettype.c
@@ -2,7 +2,7 @@
  * lib/pthread/pthread_mutexattrgettype.c
  *
  *   Copyright (C) 2008, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/pthread/pthread_mutexattrinit.c b/nuttx/lib/pthread/pthread_mutexattrinit.c
index 729b0b8e1..f815bf16c 100644
--- a/nuttx/lib/pthread/pthread_mutexattrinit.c
+++ b/nuttx/lib/pthread/pthread_mutexattrinit.c
@@ -2,7 +2,7 @@
  * lib/pthread/pthread_mutexattrinit.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/pthread/pthread_mutexattrsetpshared.c b/nuttx/lib/pthread/pthread_mutexattrsetpshared.c
index 752e9faa0..900476fdd 100644
--- a/nuttx/lib/pthread/pthread_mutexattrsetpshared.c
+++ b/nuttx/lib/pthread/pthread_mutexattrsetpshared.c
@@ -2,7 +2,7 @@
  * lib/pthread/pthread_mutexattrsetpshared.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/pthread/pthread_mutexattrsettype.c b/nuttx/lib/pthread/pthread_mutexattrsettype.c
index e095dd70c..81427c757 100644
--- a/nuttx/lib/pthread/pthread_mutexattrsettype.c
+++ b/nuttx/lib/pthread/pthread_mutexattrsettype.c
@@ -2,7 +2,7 @@
  * lib/pthread/pthread_mutexattrsettype.c
  *
  *   Copyright (C) 2008, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/sched/sched_getprioritymax.c b/nuttx/lib/sched/sched_getprioritymax.c
index 8be45d710..14b368dfc 100644
--- a/nuttx/lib/sched/sched_getprioritymax.c
+++ b/nuttx/lib/sched/sched_getprioritymax.c
@@ -2,7 +2,7 @@
  * lib/sched/sched_getprioritymax.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/sched/sched_getprioritymin.c b/nuttx/lib/sched/sched_getprioritymin.c
index a590f1fc2..86410cb0f 100644
--- a/nuttx/lib/sched/sched_getprioritymin.c
+++ b/nuttx/lib/sched/sched_getprioritymin.c
@@ -2,7 +2,7 @@
  * lib/sched/sched_getprioritymin.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/semaphore/sem_getvalue.c b/nuttx/lib/semaphore/sem_getvalue.c
index 137eb9001..31c6bb7e0 100644
--- a/nuttx/lib/semaphore/sem_getvalue.c
+++ b/nuttx/lib/semaphore/sem_getvalue.c
@@ -2,7 +2,7 @@
  * lib/semaphore/sem_getvalue.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/signal/sig_addset.c b/nuttx/lib/signal/sig_addset.c
index af9463aac..19ba0cb6b 100644
--- a/nuttx/lib/signal/sig_addset.c
+++ b/nuttx/lib/signal/sig_addset.c
@@ -2,7 +2,7 @@
  * lib/signal/sig_addset.c
  *
  *   Copyright (C) 2007, 2008, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/signal/sig_delset.c b/nuttx/lib/signal/sig_delset.c
index 489c59afa..1c661d37f 100644
--- a/nuttx/lib/signal/sig_delset.c
+++ b/nuttx/lib/signal/sig_delset.c
@@ -2,7 +2,7 @@
  * lib/signal/sig_delset.c
  *
  *   Copyright (C) 2007, 2008, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/signal/sig_emptyset.c b/nuttx/lib/signal/sig_emptyset.c
index bfee58832..ac0c6b3e8 100644
--- a/nuttx/lib/signal/sig_emptyset.c
+++ b/nuttx/lib/signal/sig_emptyset.c
@@ -2,7 +2,7 @@
  * lib/signal/sig_emptyset.c
  *
  *   Copyright (C) 2007, 2008, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/signal/sig_fillset.c b/nuttx/lib/signal/sig_fillset.c
index c660da0ad..8697d7577 100644
--- a/nuttx/lib/signal/sig_fillset.c
+++ b/nuttx/lib/signal/sig_fillset.c
@@ -2,7 +2,7 @@
  * lib/signal/sig_fillset.c
  *
  *   Copyright (C) 2007, 2008, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/signal/sig_ismember.c b/nuttx/lib/signal/sig_ismember.c
index 88dc8d819..c5bb091b7 100644
--- a/nuttx/lib/signal/sig_ismember.c
+++ b/nuttx/lib/signal/sig_ismember.c
@@ -2,7 +2,7 @@
  * lib/signal/sig_ismember.c
  *
  *   Copyright (C) 2007, 2008, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/stdio/Make.defs b/nuttx/lib/stdio/Make.defs
index 1165d5354..f88a5edd9 100644
--- a/nuttx/lib/stdio/Make.defs
+++ b/nuttx/lib/stdio/Make.defs
@@ -50,7 +50,8 @@ CSRCS += lib_fopen.c lib_fclose.c lib_fread.c lib_libfread.c lib_fseek.c \
 		   lib_gets.c lib_fwrite.c lib_libfwrite.c lib_fflush.c \
 		   lib_libflushall.c lib_libfflush.c lib_rdflush.c lib_wrflush.c \
 		   lib_fputc.c lib_puts.c lib_fputs.c lib_ungetc.c lib_vprintf.c \
-		   lib_fprintf.c lib_vfprintf.c lib_stdinstream.c lib_stdoutstream.c
+		   lib_fprintf.c lib_vfprintf.c lib_stdinstream.c lib_stdoutstream.c \
+		   lib_perror.c
 endif
 endif
 
diff --git a/nuttx/lib/stdio/lib_fflush.c b/nuttx/lib/stdio/lib_fflush.c
index e0278d0d2..d0b5e0185 100644
--- a/nuttx/lib/stdio/lib_fflush.c
+++ b/nuttx/lib/stdio/lib_fflush.c
@@ -2,7 +2,7 @@
  * lib/stdio/lib_fflush.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
@@ -97,22 +97,36 @@
 
 int fflush(FAR FILE *stream)
 {
+  int ret;
+
   /* Is the stream argument NULL? */
 
   if (!stream)
     {
       /* Yes... then this is a request to flush all streams */
 
-      return lib_flushall(sched_getstreams());
+      ret = lib_flushall(sched_getstreams());
+    }
+  else
+    {
+      ret = lib_fflush(stream, true);
     }
-  else if (lib_fflush(stream, true) != 0)
+
+  /* Check the return value */
+
+  if (ret < 0)
     {
-      /* An error occurred during the flush AND/OR we were unable to flush all
-       * of the buffered write data.  Return EOF on failure.
+      /* An error occurred during the flush AND/OR we were unable to flush
+       * all of the buffered write data. Set the errno value.
        */
 
+      set_errno(-ret);
+
+      /* And return EOF on failure. */
+
       return EOF;
     }
+
   return OK;
 }
 
diff --git a/nuttx/lib/stdio/lib_fgetc.c b/nuttx/lib/stdio/lib_fgetc.c
index 4e521e840..4b3d0ec44 100644
--- a/nuttx/lib/stdio/lib_fgetc.c
+++ b/nuttx/lib/stdio/lib_fgetc.c
@@ -2,7 +2,7 @@
  * lib/stdio/lib_fgetc.c
  *
  *   Copyright (C) 2007, 2008, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/stdio/lib_fgetpos.c b/nuttx/lib/stdio/lib_fgetpos.c
index af07f7387..e9e9f4d10 100644
--- a/nuttx/lib/stdio/lib_fgetpos.c
+++ b/nuttx/lib/stdio/lib_fgetpos.c
@@ -2,7 +2,7 @@
  * lib/stdio/lib_fgetpos.c
  *
  *   Copyright (C) 2008-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/stdio/lib_fileno.c b/nuttx/lib/stdio/lib_fileno.c
index ec25ce6d0..fca08fc0d 100644
--- a/nuttx/lib/stdio/lib_fileno.c
+++ b/nuttx/lib/stdio/lib_fileno.c
@@ -2,7 +2,7 @@
  * lib/stdio/lib_fileno.c
  *
  *   Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
@@ -63,6 +63,7 @@ int fileno(FAR FILE *stream)
       set_errno(EBADF);
       return ERROR;
     }
+
   return ret;
 }
 #endif /* CONFIG_NFILE_STREAMS */
diff --git a/nuttx/lib/stdio/lib_fread.c b/nuttx/lib/stdio/lib_fread.c
index cc652fab7..4a4b29256 100644
--- a/nuttx/lib/stdio/lib_fread.c
+++ b/nuttx/lib/stdio/lib_fread.c
@@ -2,7 +2,7 @@
  * lib/stdio/lib_fread.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/stdio/lib_fseek.c b/nuttx/lib/stdio/lib_fseek.c
index a68de79fe..7380f83b3 100644
--- a/nuttx/lib/stdio/lib_fseek.c
+++ b/nuttx/lib/stdio/lib_fseek.c
@@ -2,7 +2,7 @@
  * lib/stdio/lib_fseek.c
  *
  *   Copyright (C) 2007, 2008, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/stdio/lib_fsetpos.c b/nuttx/lib/stdio/lib_fsetpos.c
index ad3e67230..13d556521 100644
--- a/nuttx/lib/stdio/lib_fsetpos.c
+++ b/nuttx/lib/stdio/lib_fsetpos.c
@@ -2,7 +2,7 @@
  * lib/stdio/lib_fsetpos.c
  *
  *   Copyright (C) 2008, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/stdio/lib_ftell.c b/nuttx/lib/stdio/lib_ftell.c
index cd0e48368..947648152 100644
--- a/nuttx/lib/stdio/lib_ftell.c
+++ b/nuttx/lib/stdio/lib_ftell.c
@@ -2,7 +2,7 @@
  * lib/stdio/lib_ftell.c
  *
  *   Copyright (C) 2008, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/stdio/lib_fwrite.c b/nuttx/lib/stdio/lib_fwrite.c
index 1b7be2ce5..60e001746 100644
--- a/nuttx/lib/stdio/lib_fwrite.c
+++ b/nuttx/lib/stdio/lib_fwrite.c
@@ -2,7 +2,7 @@
  * lib/stdio/lib_fwrite.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/stdio/lib_libfflush.c b/nuttx/lib/stdio/lib_libfflush.c
index fb5a8768e..2a4fe2932 100644
--- a/nuttx/lib/stdio/lib_libfflush.c
+++ b/nuttx/lib/stdio/lib_libfflush.c
@@ -98,8 +98,8 @@
  *  bforce - flush must be complete.
  *
  * Return:
- *  ERROR on failure, otherwise the number of bytes remaining in the buffer.
- *  If bforce is set, then only the values ERROR and 0 will be returned.
+ *  A negated errno value on failure, otherwise the number of bytes remaining
+ *  in the buffer.
  *
  ****************************************************************************/
 
@@ -114,8 +114,7 @@ ssize_t lib_fflush(FAR FILE *stream, bool bforce)
 
   if (stream->fs_filedes < 0 || (stream->fs_oflags & O_WROK) == 0)
     {
-      set_errno(EBADF);
-      return ERROR;
+      return -EBADF;
     }
 
   /* Make sure that we have exclusive access to the stream */
@@ -132,8 +131,11 @@ ssize_t lib_fflush(FAR FILE *stream, bool bforce)
 
        if (stream->fs_bufread != stream->fs_bufstart)
         {
-          /* The buffer holds read data... just return zero */
+          /* The buffer holds read data... just return zero meaning "no bytes
+           * remaining in the buffer."
+           */
 
+          lib_give_semaphore(stream);
           return 0;
         }
 
@@ -151,8 +153,12 @@ ssize_t lib_fflush(FAR FILE *stream, bool bforce)
           bytes_written = write(stream->fs_filedes, src, nbuffer);
           if (bytes_written < 0)
             {
+              /* Write failed.  The cause of the failure is in 'errno'.
+               * returned the negated errno value.
+               */
+
               lib_give_semaphore(stream);
-              return ERROR;
+              return -get_errno();
             }
 
           /* Handle partial writes.  fflush() must either return with
diff --git a/nuttx/lib/stdio/lib_libflushall.c b/nuttx/lib/stdio/lib_libflushall.c
index 8de0c3309..9d0a89e9c 100644
--- a/nuttx/lib/stdio/lib_libflushall.c
+++ b/nuttx/lib/stdio/lib_libflushall.c
@@ -1,8 +1,8 @@
 /****************************************************************************
  * lib/stdio/lib_libflushall.c
  *
- *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Copyright (C) 2007-2009, 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
@@ -91,7 +91,7 @@
 int lib_flushall(FAR struct streamlist *list)
 {
   int lasterrno = OK;
-  int ret = OK;
+  int ret;
 
   /* Make sure that there are streams associated with this thread */
 
@@ -115,25 +115,23 @@ int lib_flushall(FAR struct streamlist *list)
              {
                /* Flush the writable FILE */
 
-               if (lib_fflush(stream, true) != 0)
+               ret = lib_fflush(stream, true);
+               if (ret < 0)
                  {
                    /* An error occurred during the flush AND/OR we were unable
-                    * to flush all of the buffered write data.  Return EOF on failure.
+                    * to flush all of the buffered write data.  Remember the
+                    * last errcode.
                     */
 
-                   lasterrno = get_errno();
-                   ret = ERROR;
+                   lasterrno = ret;
                  }
              }
          }
+
        stream_semgive(list);
     }
 
-  /* If any flush failed, return that last failed flush */
+  /* If any flush failed, return the errorcode of the last failed flush */
 
-  if (ret != OK)
-    {
-      set_errno(lasterrno);
-    }
-  return ret;
+  return lasterrno;
 }
diff --git a/nuttx/lib/stdio/lib_libfread.c b/nuttx/lib/stdio/lib_libfread.c
index 4d402a42b..03b47eda6 100644
--- a/nuttx/lib/stdio/lib_libfread.c
+++ b/nuttx/lib/stdio/lib_libfread.c
@@ -1,8 +1,8 @@
 /****************************************************************************
  * lib/stdio/lib_libfread.c
  *
- *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Copyright (C) 2007-2009, 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
@@ -88,6 +88,7 @@ ssize_t lib_fread(FAR void *ptr, size_t count, FAR FILE *stream)
 {
   unsigned char *dest  = (unsigned char*)ptr;
   ssize_t        bytes_read;
+  int            ret;
 
   /* Make sure that reading from this stream is allowed */
 
@@ -127,9 +128,11 @@ ssize_t lib_fread(FAR void *ptr, size_t count, FAR FILE *stream)
        * buffered read/write access.
        */
 
-      if (lib_wrflush(stream) != 0)
+      ret = lib_wrflush(stream);
+      if (ret < 0)
         {
-          return ERROR;
+          lib_give_semaphore(stream);
+          return ret;
         }
 
       /* Now get any other needed chars from the buffer or the file. */
@@ -176,15 +179,17 @@ ssize_t lib_fread(FAR void *ptr, size_t count, FAR FILE *stream)
                   bytes_read = read(stream->fs_filedes, dest, count);
                   if (bytes_read < 0)
                     {
-                      /* An error occurred on the read */
+                      /* An error occurred on the read.  The error code is
+                       * in the 'errno' variable.
+                       */
 
-                      goto err_out;
+                      goto errout_with_errno;
                     }
                   else if (bytes_read == 0)
                     {
                       /* We are at the end of the file */
 
-                      goto short_read;
+                      goto shortread;
                     }
                   else
                     {
@@ -198,7 +203,7 @@ ssize_t lib_fread(FAR void *ptr, size_t count, FAR FILE *stream)
                         {
                           /* No.  We must be at the end of file. */
 
-                          goto short_read;
+                          goto shortread;
                         }
                       else
                         {
@@ -219,15 +224,17 @@ ssize_t lib_fread(FAR void *ptr, size_t count, FAR FILE *stream)
                   bytes_read = read(stream->fs_filedes, stream->fs_bufread, buffer_available);
                   if (bytes_read < 0)
                     {
-                      /* An error occurred on the read */
+                      /* An error occurred on the read.  The error code is
+                       * in the 'errno' variable.
+                       */
 
-                      goto err_out;
+                      goto errout_with_errno;
                     }
                   else if (bytes_read == 0)
                     {
                       /* We are at the end of the file */
 
-                      goto short_read;
+                      goto shortread;
                     }
                   else
                     {
@@ -246,7 +253,11 @@ ssize_t lib_fread(FAR void *ptr, size_t count, FAR FILE *stream)
           bytes_read = read(stream->fs_filedes, dest, count);
           if (bytes_read < 0)
             {
-              goto err_out;
+              /* An error occurred on the read.  The error code is
+               * in the 'errno' variable.
+               */
+
+              goto errout_with_errno;
             }
           else if (bytes_read == 0)
             {
@@ -259,13 +270,21 @@ ssize_t lib_fread(FAR void *ptr, size_t count, FAR FILE *stream)
             }
         }
 #endif
+    /* Here after a successful (but perhaps short) read */
+
 #if CONFIG_STDIO_BUFFER_SIZE > 0
-    short_read:
+    shortread:
 #endif
       bytes_read = dest - (unsigned char*)ptr;
-    err_out:
-      lib_give_semaphore(stream);
     }
-  return bytes_read;
+
+  lib_give_semaphore(stream);
+  return bytes_read;  
+
+/* Error exits */
+
+errout_with_errno:
+  lib_give_semaphore(stream);
+  return -get_errno();  
 }
 
diff --git a/nuttx/lib/stdio/lib_libsprintf.c b/nuttx/lib/stdio/lib_libsprintf.c
index 04d547754..2474a6f01 100644
--- a/nuttx/lib/stdio/lib_libsprintf.c
+++ b/nuttx/lib/stdio/lib_libsprintf.c
@@ -2,7 +2,7 @@
  * lib/stdio/lib_libsprintf.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/stdio/lib_perror.c b/nuttx/lib/stdio/lib_perror.c
new file mode 100644
index 000000000..867e113f9
--- /dev/null
+++ b/nuttx/lib/stdio/lib_perror.c
@@ -0,0 +1,99 @@
+/****************************************************************************
+ * lib/stdio/lib_perror.c
+ *
+ *   Copyright (C) 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <errno.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* POSIX requires that perror provide its output on stderr.  This option may
+ * be defined, however, to provide perror output that is serialized with
+ * other stdout messages.
+ */
+ 
+#ifdef CONFIG_LIBC_PERROR_STDOUT
+#  define PERROR_STREAM stdout
+#else
+#  define PERROR_STREAM stderr
+#endif
+
+/****************************************************************************
+ * Private Type Declarations
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: perror
+ ****************************************************************************/
+
+void perror(FAR const char *s)
+{
+
+  /* If strerror() is not enabled, then just print the error number */
+
+#ifdef CONFIG_LIBC_STRERROR
+  (void)fprintf(PERROR_STREAM, "%s: %s\n", s, strerror(errno));
+#else
+  (void)fprintf(PERROR_STREAM, "%s: Error %d\n", s, errno);
+#endif
+}
+
diff --git a/nuttx/lib/stdio/lib_rdflush.c b/nuttx/lib/stdio/lib_rdflush.c
index 948dcce5d..35c5495c1 100644
--- a/nuttx/lib/stdio/lib_rdflush.c
+++ b/nuttx/lib/stdio/lib_rdflush.c
@@ -2,7 +2,7 @@
  * lib/stdio/lib_rdflush.c
  *
  *   Copyright (C) 2008, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/stdio/lib_snprintf.c b/nuttx/lib/stdio/lib_snprintf.c
index a4dcd399b..e5ce7b0f0 100644
--- a/nuttx/lib/stdio/lib_snprintf.c
+++ b/nuttx/lib/stdio/lib_snprintf.c
@@ -2,7 +2,7 @@
  * lib/stdio/lib_snprintf.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/stdio/lib_sprintf.c b/nuttx/lib/stdio/lib_sprintf.c
index 6de019cc5..89fd61033 100644
--- a/nuttx/lib/stdio/lib_sprintf.c
+++ b/nuttx/lib/stdio/lib_sprintf.c
@@ -2,7 +2,7 @@
  * lib/stdio/lib_sprintf.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/stdio/lib_sscanf.c b/nuttx/lib/stdio/lib_sscanf.c
index 3430aa0a0..c77907711 100644
--- a/nuttx/lib/stdio/lib_sscanf.c
+++ b/nuttx/lib/stdio/lib_sscanf.c
@@ -2,7 +2,7 @@
  * lib/stdio/lib_sscanf.c
  *
  *   Copyright (C) 2007, 2008, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/stdio/lib_syslogstream.c b/nuttx/lib/stdio/lib_syslogstream.c
index 7e47d794a..21151b43a 100644
--- a/nuttx/lib/stdio/lib_syslogstream.c
+++ b/nuttx/lib/stdio/lib_syslogstream.c
@@ -2,7 +2,7 @@
  * lib/stdio/lib_syslogstream.c
  *
  *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/stdio/lib_ungetc.c b/nuttx/lib/stdio/lib_ungetc.c
index 73e591729..c10d4fba1 100644
--- a/nuttx/lib/stdio/lib_ungetc.c
+++ b/nuttx/lib/stdio/lib_ungetc.c
@@ -2,7 +2,7 @@
  * lib/stdio/lib_ungetc.c
  *
  *   Copyright (C) 2007, 2008, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/stdio/lib_vfprintf.c b/nuttx/lib/stdio/lib_vfprintf.c
index 25c3954c0..1c3a2d7fc 100644
--- a/nuttx/lib/stdio/lib_vfprintf.c
+++ b/nuttx/lib/stdio/lib_vfprintf.c
@@ -2,7 +2,7 @@
  * lib/stdio/lib_vfprintf.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/stdio/lib_vprintf.c b/nuttx/lib/stdio/lib_vprintf.c
index a2e31fa05..d085d5886 100644
--- a/nuttx/lib/stdio/lib_vprintf.c
+++ b/nuttx/lib/stdio/lib_vprintf.c
@@ -2,7 +2,7 @@
  * lib/stdio/lib_vprintf.c
  *
  *   Copyright (C) 2007, 2008, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/stdio/lib_vsnprintf.c b/nuttx/lib/stdio/lib_vsnprintf.c
index da885977c..c6f52092d 100644
--- a/nuttx/lib/stdio/lib_vsnprintf.c
+++ b/nuttx/lib/stdio/lib_vsnprintf.c
@@ -2,7 +2,7 @@
  * lib/stdio/lib_vsnprintf.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/stdio/lib_vsprintf.c b/nuttx/lib/stdio/lib_vsprintf.c
index 72a829a79..5db46664e 100644
--- a/nuttx/lib/stdio/lib_vsprintf.c
+++ b/nuttx/lib/stdio/lib_vsprintf.c
@@ -2,7 +2,7 @@
  * lib/stdio/lib_vsprintf.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/stdio/lib_wrflush.c b/nuttx/lib/stdio/lib_wrflush.c
index c16109515..39680da6a 100644
--- a/nuttx/lib/stdio/lib_wrflush.c
+++ b/nuttx/lib/stdio/lib_wrflush.c
@@ -1,8 +1,8 @@
 /****************************************************************************
  * lib/stdio/lib_wrflush.c
  *
- *   Copyright (C) 2008-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Copyright (C) 2008-2009, 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
@@ -88,29 +88,47 @@
 
 int lib_wrflush(FAR FILE *stream)
 {
+#if CONFIG_STDIO_BUFFER_SIZE > 0
   /* Verify that we were passed a valid (i.e., non-NULL) stream */
 
-#if CONFIG_STDIO_BUFFER_SIZE > 0
-  if (stream)
+#ifdef CONFIG_DEBUG
+  if (!stream)
     {
-      /* Verify that the stream is opened for writing... lib_fflush will
-       * return an error if it is called for a stream that is not opened for
-       * writing.
-       */
+      return -EINVAL;
+    }
+#endif
+
+  /* Verify that the stream is opened for writing... lib_fflush will
+   * return an error if it is called for a stream that is not opened for
+   * writing.  Check that first so that this function will not fail in
+   * that case.
+   */
 
-      if ((stream->fs_oflags & O_WROK) == 0 ||
-          lib_fflush(stream, true) == 0)
-       {
-         /* Return success if there is no buffered write data -- i.e., that
-          * the stream is not opened for writing or, if it is, that all of
-          * the buffered write data was successfully flushed.
-          */
+  if ((stream->fs_oflags & O_WROK) == 0)
+    {
+      /* Report that the success was successful if we attempt to flush a
+       * read-only stream.
+       */
 
-         return OK;
-       }
+      return OK;
     }
-  return ERROR;
+
+  /* Flush the stream.   Return success if there is no buffered write data
+   * -- i.e., that the stream is opened for writing and  that all of the
+   * buffered write data was successfully flushed by lib_fflush().
+   */
+
+  return lib_fflush(stream, true);
 #else
-  return stream ? OK : ERROR;
+  /* Verify that we were passed a valid (i.e., non-NULL) stream */
+
+#ifdef CONFIG_DEBUG
+  if (!stream)
+    {
+      return -EINVAL;
+    }
+#endif
+
+  return OK;
 #endif
 }
diff --git a/nuttx/lib/stdio/lib_zeroinstream.c b/nuttx/lib/stdio/lib_zeroinstream.c
index 27655b547..39a6c22ef 100644
--- a/nuttx/lib/stdio/lib_zeroinstream.c
+++ b/nuttx/lib/stdio/lib_zeroinstream.c
@@ -2,7 +2,7 @@
  * lib/stdio/lib_zeroinstream.c
  *
  *   Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/stdlib/lib_abs.c b/nuttx/lib/stdlib/lib_abs.c
index 5c805d857..1a0c1671c 100644
--- a/nuttx/lib/stdlib/lib_abs.c
+++ b/nuttx/lib/stdlib/lib_abs.c
@@ -2,7 +2,7 @@
  * lib/stdlib/lib_abs.c
  *
  *   Copyright (C) 2010-2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/stdlib/lib_imaxabs.c b/nuttx/lib/stdlib/lib_imaxabs.c
index d16791b26..c6e227c7d 100644
--- a/nuttx/lib/stdlib/lib_imaxabs.c
+++ b/nuttx/lib/stdlib/lib_imaxabs.c
@@ -2,7 +2,7 @@
  * lib/stdlib//lib_abs.c
  *
  *   Copyright (C) 2010-2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/stdlib/lib_labs.c b/nuttx/lib/stdlib/lib_labs.c
index c9d9c1935..f7218ee83 100644
--- a/nuttx/lib/stdlib/lib_labs.c
+++ b/nuttx/lib/stdlib/lib_labs.c
@@ -2,7 +2,7 @@
  * lib/stdlib/lib_labs.c
  *
  *   Copyright (C) 2010-2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/stdlib/lib_llabs.c b/nuttx/lib/stdlib/lib_llabs.c
index 24e26e9e1..db7d3dbe0 100644
--- a/nuttx/lib/stdlib/lib_llabs.c
+++ b/nuttx/lib/stdlib/lib_llabs.c
@@ -2,7 +2,7 @@
  * lib/stdlib/lib_llabs.c
  *
  *   Copyright (C) 2010-2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/stdlib/lib_qsort.c b/nuttx/lib/stdlib/lib_qsort.c
index 13bca7499..9dd5c0040 100644
--- a/nuttx/lib/stdlib/lib_qsort.c
+++ b/nuttx/lib/stdlib/lib_qsort.c
@@ -2,7 +2,7 @@
  * lib/stdlib/lib_qsort.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Leveraged from:
  *
diff --git a/nuttx/lib/stdlib/lib_rand.c b/nuttx/lib/stdlib/lib_rand.c
index 537bc1aae..7227c52d0 100644
--- a/nuttx/lib/stdlib/lib_rand.c
+++ b/nuttx/lib/stdlib/lib_rand.c
@@ -2,7 +2,7 @@
  * lib/stdlib/lib_rand.c
  *
  *   Copyright (C) 2007, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/string/lib_strerror.c b/nuttx/lib/string/lib_strerror.c
index 580974fa6..249f695c1 100644
--- a/nuttx/lib/string/lib_strerror.c
+++ b/nuttx/lib/string/lib_strerror.c
@@ -1,8 +1,8 @@
 /************************************************************************
  * lib/string/lib_strerror.c
  *
- *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Copyright (C) 2007, 2009, 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
@@ -61,6 +61,8 @@ struct errno_strmap_s
  * Private Data
  ************************************************************************/
 
+#ifdef CONFIG_LIBC_STRERROR
+
 /* This table maps all error numbers to descriptive strings.
  * The only assumption that the code makes with regard to this
  * this table is that it is ordered by error number.
@@ -70,6 +72,8 @@ struct errno_strmap_s
  * strings.
  */
 
+#ifndef CONFIG_LIBC_STRERROR_SHORT
+
 static const struct errno_strmap_s g_errnomap[] =
 {
   { EPERM,               EPERM_STR           },
@@ -196,8 +200,140 @@ static const struct errno_strmap_s g_errnomap[] =
   { EMEDIUMTYPE,         EMEDIUMTYPE_STR     }
 };
 
+#else /* CONFIG_LIBC_STRERROR_SHORT */
+
+static const struct errno_strmap_s g_errnomap[] =
+{
+  { EPERM,               "EPERM"             },
+  { ENOENT,              "ENOENT"            },
+  { ESRCH,               "ESRCH"             },
+  { EINTR,               "EINTR"             },
+  { EIO,                 "EIO"               },
+  { ENXIO,               "ENXIO"             },
+  { E2BIG,               "E2BIG"             },
+  { ENOEXEC,             "ENOEXEC"           },
+  { EBADF,               "EBADF"             },
+  { ECHILD,              "ECHILD"            },
+  { EAGAIN,              "EAGAIN"            },
+  { ENOMEM,              "ENOMEM"            },
+  { EACCES,              "EACCES"            },
+  { EFAULT,              "EFAULT"            },
+  { ENOTBLK,             "ENOTBLK"           },
+  { EBUSY,               "EBUSY"             },
+  { EEXIST,              "EEXIST"            },
+  { EXDEV,               "EXDEV"             },
+  { ENODEV,              "ENODEV"            },
+  { ENOTDIR,             "ENOTDIR"           },
+  { EISDIR,              "EISDIR"            },
+  { EINVAL,              "EINVAL"            },
+  { ENFILE,              "ENFILE"            },
+  { EMFILE,              "EMFILE"            },
+  { ENOTTY,              "ENOTTY"            },
+  { ETXTBSY,             "ETXTBSY"           },
+  { EFBIG,               "EFBIG"             },
+  { ENOSPC,              "ENOSPC"            },
+  { ESPIPE,              "ESPIPE"            },
+  { EROFS,               "EROFS"             },
+  { EMLINK,              "EMLINK"            },
+  { EPIPE,               "EPIPE"             },
+  { EDOM,                "EDOM"              },
+  { ERANGE,              "ERANGE"            },
+  { EDEADLK,             "EDEADLK"           },
+  { ENAMETOOLONG,        "ENAMETOOLONG"      },
+  { ENOLCK,              "ENOLCK"            },
+  { ENOSYS,              "ENOSYS"            },
+  { ENOTEMPTY,           "ENOTEMPTY"         },
+  { ELOOP,               "ELOOP"             },
+  { ENOMSG,              "ENOMSG"            },
+  { EIDRM,               "EIDRM"             },
+  { ECHRNG,              "ECHRNG"            },
+  { EL2NSYNC,            "EL2NSYNC"          },
+  { EL3HLT,              "EL3HLT"            },
+  { EL3RST,              "EL3RST"            },
+  { EL3RST,              "EL3RST"            },
+  { EUNATCH,             "EUNATCH"           },
+  { ENOCSI,              "ENOCSI"            },
+  { EL2HLT,              "EL2HLT"            },
+  { EBADE,               "EBADE"             },
+  { EBADR,               "EBADR"             },
+  { EXFULL,              "EXFULL"            },
+  { ENOANO,              "ENOANO"            },
+  { EBADRQC,             "EBADRQC"           },
+  { EBADSLT,             "EBADSLT"           },
+  { EBFONT,              "EBFONT"            },
+  { ENOSTR,              "ENOSTR"            },
+  { ENODATA,             "ENODATA"           },
+  { ETIME,               "ETIME"             },
+  { ENOSR,               "ENOSR"             },
+  { ENONET,              "ENONET"            },
+  { ENOPKG,              "ENOPKG"            },
+  { EREMOTE,             "EREMOTE"           },
+  { ENOLINK,             "ENOLINK"           },
+  { EADV,                "EADV"              },
+  { ESRMNT,              "ESRMNT"            },
+  { ECOMM,               "ECOMM"             },
+  { EPROTO,              "EPROTO"            },
+  { EMULTIHOP,           "EMULTIHOP"         },
+  { EDOTDOT,             "EDOTDOT"           },
+  { EBADMSG,             "EBADMSG"           },
+  { EOVERFLOW,           "EOVERFLOW"         },
+  { ENOTUNIQ,            "ENOTUNIQ"          },
+  { EBADFD,              "EBADFD"            },
+  { EREMCHG,             "EREMCHG"           },
+  { ELIBACC,             "ELIBACC"           },
+  { ELIBBAD,             "ELIBBAD"           },
+  { ELIBSCN,             "ELIBSCN"           },
+  { ELIBMAX,             "ELIBMAX"           },
+  { ELIBEXEC,            "ELIBEXEC"          },
+  { EILSEQ,              "EILSEQ"            },
+  { ERESTART,            "ERESTART"          },
+  { ESTRPIPE,            "ESTRPIPE"          },
+  { EUSERS,              "EUSERS"            },
+  { ENOTSOCK,            "ENOTSOCK"          },
+  { EDESTADDRREQ,        "EDESTADDRREQ"      },
+  { EMSGSIZE,            "EMSGSIZE"          },
+  { EPROTOTYPE,          "EPROTOTYPE"        },
+  { ENOPROTOOPT,         "ENOPROTOOPT"       },
+  { EPROTONOSUPPORT,     "EPROTONOSUPPORT"   },
+  { ESOCKTNOSUPPORT,     "ESOCKTNOSUPPORT"   },
+  { EOPNOTSUPP,          "EOPNOTSUPP"        },
+  { EPFNOSUPPORT,        "EPFNOSUPPORT"      },
+  { EAFNOSUPPORT,        "EAFNOSUPPORT"      },
+  { EADDRINUSE,          "EADDRINUSE"        },
+  { EADDRNOTAVAIL,       "EADDRNOTAVAIL"     },
+  { ENETDOWN,            "ENETDOWN"          },
+  { ENETUNREACH,         "ENETUNREACH"       },
+  { ENETRESET,           "ENETRESET"         },
+  { ECONNABORTED,        "ECONNABORTED"      },
+  { ECONNRESET,          "ECONNRESET"        },
+  { ENOBUFS,             "ENOBUFS"           },
+  { EISCONN,             "EISCONN"           },
+  { ENOTCONN,            "ENOTCONN"          },
+  { ESHUTDOWN,           "ESHUTDOWN"         },
+  { ETOOMANYREFS,        "ETOOMANYREFS"      },
+  { ETIMEDOUT,           "ETIMEDOUT"         },
+  { ECONNREFUSED,        "ECONNREFUSED"      },
+  { EHOSTDOWN,           "EHOSTDOWN"         },
+  { EHOSTUNREACH,        "EHOSTUNREACH"      },
+  { EALREADY,            "EALREADY"          },
+  { EINPROGRESS,         "EINPROGRESS"       },
+  { ESTALE,              "ESTALE"            },
+  { EUCLEAN,             "EUCLEAN"           },
+  { ENOTNAM,             "ENOTNAM"           },
+  { ENAVAIL,             "ENAVAIL"           },
+  { EISNAM,              "EISNAM"            },
+  { EREMOTEIO,           "EREMOTEIO"         },
+  { EDQUOT,              "EDQUOT"            },
+  { ENOMEDIUM,           "ENOMEDIUM"         },
+  { EMEDIUMTYPE,         "EMEDIUMTYPE"     }
+};
+
+#endif /* CONFIG_LIBC_STRERROR_SHORT */
+
 #define NERRNO_STRS (sizeof(g_errnomap) / sizeof(struct errno_strmap_s))
 
+#endif /* CONFIG_LIBC_STRERROR */
+
 /************************************************************************
  * Private Functions
  ************************************************************************/
@@ -210,8 +346,9 @@ static const struct errno_strmap_s g_errnomap[] =
  * Name: strerror
  ************************************************************************/
 
-const char *strerror(int errnum)
+FAR const char *strerror(int errnum)
 {
+#ifdef CONFIG_LIBC_STRERROR
   int ndxlow = 0;
   int ndxhi  = NERRNO_STRS - 1;
   int ndxmid;
@@ -233,5 +370,6 @@ const char *strerror(int errnum)
         }
     }
   while (ndxlow <= ndxhi);
+#endif
   return "Unknown error";
 }
diff --git a/nuttx/lib/string/lib_strtokr.c b/nuttx/lib/string/lib_strtokr.c
index 366a31819..0d12a2381 100644
--- a/nuttx/lib/string/lib_strtokr.c
+++ b/nuttx/lib/string/lib_strtokr.c
@@ -90,7 +90,7 @@
  *
  ****************************************************************************/
 
-char *strtok_r(char *str, const char *delim, char **saveptr)
+FAR char *strtok_r(FAR char *str, FAR const char *delim, FAR char **saveptr)
 {
   char *pbegin;
   char *pend = NULL;
diff --git a/nuttx/lib/time/lib_calendar2utc.c b/nuttx/lib/time/lib_calendar2utc.c
index 642e23568..e80c292fc 100644
--- a/nuttx/lib/time/lib_calendar2utc.c
+++ b/nuttx/lib/time/lib_calendar2utc.c
@@ -2,7 +2,7 @@
  * lib/time/lib_calendar2utc.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/time/lib_daysbeforemonth.c b/nuttx/lib/time/lib_daysbeforemonth.c
index 4312adaba..8000b0e7a 100644
--- a/nuttx/lib/time/lib_daysbeforemonth.c
+++ b/nuttx/lib/time/lib_daysbeforemonth.c
@@ -2,7 +2,7 @@
  * lib/time/lib_daysbeforemonth.c
  *
  *   Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/time/lib_gmtime.c b/nuttx/lib/time/lib_gmtime.c
index 7bce8391e..99afeded9 100644
--- a/nuttx/lib/time/lib_gmtime.c
+++ b/nuttx/lib/time/lib_gmtime.c
@@ -2,7 +2,7 @@
  * lib/time/lib_gmtime.c
  *
  *   Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/time/lib_gmtimer.c b/nuttx/lib/time/lib_gmtimer.c
index 146939e7a..ba1c9724f 100644
--- a/nuttx/lib/time/lib_gmtimer.c
+++ b/nuttx/lib/time/lib_gmtimer.c
@@ -2,7 +2,7 @@
  * lib/time/lib_gmtimer.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/time/lib_isleapyear.c b/nuttx/lib/time/lib_isleapyear.c
index 24d7d6153..966c248e0 100644
--- a/nuttx/lib/time/lib_isleapyear.c
+++ b/nuttx/lib/time/lib_isleapyear.c
@@ -2,7 +2,7 @@
  * lib/time/lib_isleapyear.c
  *
  *   Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/time/lib_mktime.c b/nuttx/lib/time/lib_mktime.c
index 2e8cfc119..8c17e7c0a 100644
--- a/nuttx/lib/time/lib_mktime.c
+++ b/nuttx/lib/time/lib_mktime.c
@@ -2,7 +2,7 @@
  * lib/time/lib_mktime.c
  *
  *   Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/time/lib_strftime.c b/nuttx/lib/time/lib_strftime.c
index c1ac345ee..cd0804f55 100644
--- a/nuttx/lib/time/lib_strftime.c
+++ b/nuttx/lib/time/lib_strftime.c
@@ -2,7 +2,7 @@
  * lib/time/lib_strftime.c
  *
  *   Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/time/lib_time.c b/nuttx/lib/time/lib_time.c
index 02853132b..106a04c36 100644
--- a/nuttx/lib/time/lib_time.c
+++ b/nuttx/lib/time/lib_time.c
@@ -2,7 +2,7 @@
  * lib/time/lib_time.c
  *
  *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/unistd/lib_chdir.c b/nuttx/lib/unistd/lib_chdir.c
index f79b424ff..3dd1333ce 100644
--- a/nuttx/lib/unistd/lib_chdir.c
+++ b/nuttx/lib/unistd/lib_chdir.c
@@ -2,7 +2,7 @@
  * lib/unistd/lib_chdir.c
  *
  *   Copyright (C) 2008-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/unistd/lib_getcwd.c b/nuttx/lib/unistd/lib_getcwd.c
index 9bfa102fb..b94823300 100644
--- a/nuttx/lib/unistd/lib_getcwd.c
+++ b/nuttx/lib/unistd/lib_getcwd.c
@@ -2,7 +2,7 @@
  * lib/unistd/lib_getcwd.c
  *
  *   Copyright (C) 2008, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/unistd/lib_getopt.c b/nuttx/lib/unistd/lib_getopt.c
index 26a2c7fae..832d28721 100644
--- a/nuttx/lib/unistd/lib_getopt.c
+++ b/nuttx/lib/unistd/lib_getopt.c
@@ -2,7 +2,7 @@
  * lib/unistd/lib_getopt.c
  *
  *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/unistd/lib_getoptargp.c b/nuttx/lib/unistd/lib_getoptargp.c
index 4a483c051..98a485016 100644
--- a/nuttx/lib/unistd/lib_getoptargp.c
+++ b/nuttx/lib/unistd/lib_getoptargp.c
@@ -2,7 +2,7 @@
  * lib/unistd/lib_getoptargp.c
  *
  *   Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/unistd/lib_getoptindp.c b/nuttx/lib/unistd/lib_getoptindp.c
index 002201aa9..7714f8e70 100644
--- a/nuttx/lib/unistd/lib_getoptindp.c
+++ b/nuttx/lib/unistd/lib_getoptindp.c
@@ -2,7 +2,7 @@
  * lib/unistd/lib_getoptindp.c
  *
  *   Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/lib/unistd/lib_getoptoptp.c b/nuttx/lib/unistd/lib_getoptoptp.c
index 2214f2d14..4805b7ac3 100644
--- a/nuttx/lib/unistd/lib_getoptoptp.c
+++ b/nuttx/lib/unistd/lib_getoptoptp.c
@@ -2,7 +2,7 @@
  * lib/unistd/lib_getoptoptp.c
  *
  *   Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/sched/Kconfig b/nuttx/sched/Kconfig
index 9d7a38549..37ce0ebd6 100644
--- a/nuttx/sched/Kconfig
+++ b/nuttx/sched/Kconfig
@@ -202,6 +202,14 @@ config SCHED_ONEXIT_MAX
 		is supported. That number can be increased by defined this setting to the
 		number that you require.
 
+config USER_ENTRYPOINT
+	string "Appliation entry point"
+	default "user_start"
+	---help---
+		The name of the entry point for user applications.  For the example
+		applications this is of the form 'app_main' where 'app' is the application
+		name. If not defined, USER_ENTRYPOINT defaults to "user_start."
+
 config DISABLE_OS_API
 	bool "Disable NuttX interfaces"
 	default y
diff --git a/nuttx/sched/os_bringup.c b/nuttx/sched/os_bringup.c
index 646f49158..d6d943137 100644
--- a/nuttx/sched/os_bringup.c
+++ b/nuttx/sched/os_bringup.c
@@ -71,12 +71,6 @@
  * then the default entry point is user_start.
  */
 
-#if defined(CONFIG_NUTTX_KERNEL) && defined(CONFIG_USER_ENTRYPOINT)
-#  define USER_ENTRYPOINT (main_t)CONFIG_USER_ENTRYPOINT
-#else
-#  define USER_ENTRYPOINT user_start
-#endif
-
 /****************************************************************************
  * Private Types
  ****************************************************************************/
@@ -175,11 +169,11 @@ int os_bringup(void)
   
   init_taskid = exec_namedapp(CONFIG_BUILTIN_APP_START, argv);
 #else
-  /* Start the default application at USER_ENTRYPOINT() */
+  /* Start the default application at CONFIG_USER_ENTRYPOINT() */
 
   init_taskid = TASK_CREATE("init", SCHED_PRIORITY_DEFAULT,
                             CONFIG_USERMAIN_STACKSIZE,
-                            (main_t)USER_ENTRYPOINT, (const char **)NULL);
+                            (main_t)CONFIG_USER_ENTRYPOINT, (const char **)NULL);
 #endif
   ASSERT(init_taskid != ERROR);
   return OK;
diff --git a/nuttx/sched/sem_holder.c b/nuttx/sched/sem_holder.c
index 704ebd194..1bae37746 100644
--- a/nuttx/sched/sem_holder.c
+++ b/nuttx/sched/sem_holder.c
@@ -948,10 +948,11 @@ void sem_restorebaseprio(FAR _TCB *stcb, FAR sem_t *sem)
               (sem->semcount <= 0 && stcb != NULL));
 
   /* Handler semaphore counts posed from an interrupt handler differently
-   * from interrupts posted from threads.  The priority difference is that
+   * from interrupts posted from threads.  The primary difference is that
    * if the semaphore is posted from a thread, then the poster thread is
    * a player in the priority inheritance scheme.  The interrupt handler
-   * externally injects the new count without participated itself.
+   * externally injects the new count without otherwise participating
+   * itself.
    */
 
   if (up_interrupt_context())
diff --git a/nuttx/sched/work_cancel.c b/nuttx/sched/work_cancel.c
index 75a6cbc7d..30b650826 100644
--- a/nuttx/sched/work_cancel.c
+++ b/nuttx/sched/work_cancel.c
@@ -104,10 +104,16 @@ int work_cancel(struct work_s *work)
   flags = irqsave();
   if (work->worker != NULL)
     {
-      DEBUGASSERT(work->dq.blink || (FAR dq_entry_t *)work == g_work.head);
-      DEBUGASSERT(work->dq.flink || (FAR dq_entry_t *)work == g_work.tail);
-      dq_rem((FAR dq_entry_t *)work, &g_work);
+      /* A little test of the integrity of the work queue */
+
+      DEBUGASSERT(work->dq.flink ||(FAR dq_entry_t *)work == g_work.tail);
+      DEBUGASSERT(work->dq.blink ||(FAR dq_entry_t *)work == g_work.head);
 
+      /* Remove the entry from the work queue and make sure that it is
+       * mark as availalbe (i.e., the worker field is nullified).
+       */
+
+      dq_rem((FAR dq_entry_t *)work, &g_work);
       work->worker = NULL;
     }
 
diff --git a/nuttx/syscall/README.txt b/nuttx/syscall/README.txt
index 0b77f50bf..ed5e6081d 100644
--- a/nuttx/syscall/README.txt
+++ b/nuttx/syscall/README.txt
@@ -108,6 +108,10 @@ Each type field has a format as follows:
         cannot cast a union sigval to a uinptr_t either.  Rather, we need
         to cast a specific union member fieldname to uintptr_t.
 
+NOTE: This CSV file is used both to support the generate of trap information,
+but also for the generation of symbol tables.  See nuttx/tools/README.txt
+and nuttx/lib/README.txt for further information.
+
 Auto-Generated Files
 ====================
 
diff --git a/nuttx/tools/Config.mk b/nuttx/tools/Config.mk
index 004a7e5bd..07d88392e 100644
--- a/nuttx/tools/Config.mk
+++ b/nuttx/tools/Config.mk
@@ -33,6 +33,9 @@
 #
 ############################################################################
 
-CONFIG_ARCH := $(shell echo $(CONFIG_ARCH))
-CONFIG_ARCH_CHIP := $(shell echo $(CONFIG_ARCH_CHIP))
-CONFIG_ARCH_BOARD := $(shell echo $(CONFIG_ARCH_BOARD))
+# These are configuration variables that are quoted by configuration tool
+# but which must be unquoated when used in the build system.
+
+CONFIG_ARCH       := $(patsubst "%",%,$(strip $(CONFIG_ARCH)))
+CONFIG_ARCH_CHIP  := $(patsubst "%",%,$(strip $(CONFIG_ARCH_CHIP)))
+CONFIG_ARCH_BOARD := $(patsubst "%",%,$(strip $(CONFIG_ARCH_BOARD)))
diff --git a/nuttx/tools/Makefile.export b/nuttx/tools/Makefile.export
index fa2909972..ce4842187 100644
--- a/nuttx/tools/Makefile.export
+++ b/nuttx/tools/Makefile.export
@@ -2,7 +2,7 @@
 # Makefile.export
 #
 #   Copyright (C) 2011 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+#   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
diff --git a/nuttx/tools/Makefile.host b/nuttx/tools/Makefile.host
index cf421aa3b..33b7aaab2 100644
--- a/nuttx/tools/Makefile.host
+++ b/nuttx/tools/Makefile.host
@@ -58,8 +58,13 @@ mkversion: mkconfig.c cfgparser.c
 
 # mksyscall - Convert a CSV file into syscall stubs and proxies
 
-mksyscall: mksyscall.c
-	@gcc $(CFLAGS) -o mksyscall mksyscall.c
+mksyscall: mksyscall.c csvparser.c
+	@gcc $(CFLAGS) -o mksyscall mksyscall.c csvparser.c
+
+# mksymtab - Convert a CSV file into a symbol table
+
+mksymtab: mksymtab.c csvparser.c
+	@gcc $(CFLAGS) -o mksymtab mksymtab.c csvparser.c
 
 # bdf-converter - Converts a BDF font to the NuttX font format
 
diff --git a/nuttx/tools/README.txt b/nuttx/tools/README.txt
index 39128fa1b..ae19be273 100755
--- a/nuttx/tools/README.txt
+++ b/nuttx/tools/README.txt
@@ -44,6 +44,16 @@ mkexport.sh and Makefile.export
   Makefile.export is used only by the mkexport.sh script to parse out
   options from the top-level Make.defs file.
 
+mkfsdata.pl
+
+  This perl script is used to build the "fake" file system and CGI support
+  as needed for the apps/netutils/webserver.  It is currently used only
+  by the Makefile at apps/examples/uip.  That example serves as an example
+  of how to configure the uIP webserver "fake" file system.
+
+  NOTE:  This perl script comes from uIP and was (probably) written
+  by Adam Dunkels.  uIP has a license that is compatible with NuttX.
+
 mkversion.c, cfgparser.c, and cfgparser.h
 
   This is C file that is used to build mkversion program.  The mkversion
@@ -57,7 +67,7 @@ mkversion.c, cfgparser.c, and cfgparser.h
   .version file in the top level directory into include/nuttx/version.h.
   version.h provides version information that can be included by C files.
 
-mksyscall.c
+mksyscall.c, cvsparser.c, and cvsparser.h
 
   This is a C file that is used to build mksyscall program.  The mksyscall
   program is used during the initial NuttX build by the logic in the top-
@@ -79,6 +89,26 @@ mksyscall.c
   accept this CVS file as input and generate all of the required proxy or
   stub files as output.  See syscall/README.txt for additonal information.
 
+mksymtab.c, cvsparser.c, and cvsparser.h
+
+  This is a C file that is used to build symbol tables from common-separated
+  value (CSV) files.  This tool is not used during the NuttX build, but
+  can be used as needed to generate files.
+
+  USAGE: ./mksymtab <cvs-file> <symtab-file>
+
+  Where:
+
+    <cvs-file>   : The path to the input CSV file
+    <symtab-file>: The path to the output symbol table file
+    -d           : Enable debug output
+
+  Example:
+
+    cd nuttx/tools
+    cat ../syscall/syscall.csv ../lib/lib.csv | sort >tmp.csv
+    ./mksymtab.exe tmp.csv tmp.c
+
 pic32mx
 
   This directory contains build tools used only for PIC32MX platforms
diff --git a/nuttx/tools/cfgparser.c b/nuttx/tools/cfgparser.c
index 655fac573..e49b29d5e 100644
--- a/nuttx/tools/cfgparser.c
+++ b/nuttx/tools/cfgparser.c
@@ -52,21 +52,41 @@
 char line[LINESIZE+1];
 
 /****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/* These are configuration variable name that are quoted by configuration tool
+ * but which must be unquoated when used in C code.
+ */
+
+static const char *dequote_list[] =
+{
+  "CONFIG_USER_ENTRYPOINT",
+  NULL
+};
+
+ /****************************************************************************
  * Private Functions
  ****************************************************************************/
 
+ /* Skip over any spaces */
+ 
 static char *skip_space(char *ptr)
 {
   while (*ptr && isspace((int)*ptr)) ptr++;
   return ptr;
 }
 
+/* Find the end of a variable string */
+
 static char *find_name_end(char *ptr)
 {
   while (*ptr && (isalnum((int)*ptr) || *ptr == '_')) ptr++;
   return ptr;
 }
 
+/* Find the end of a value string */
+
 static char *find_value_end(char *ptr)
 {
   while (*ptr && !isspace((int)*ptr))
@@ -84,6 +104,8 @@ static char *find_value_end(char *ptr)
   return ptr;
 }
 
+/* Read the next line from the configuration file */
+
 static char *read_line(FILE *stream)
 {
   char *ptr;
@@ -106,31 +128,127 @@ static char *read_line(FILE *stream)
     }
 }
 
+/* Parse the line from the configuration file into a variable name
+ * string and a value string.
+ */
+
 static void parse_line(char *ptr, char **varname, char **varval)
 {
-  *varname = ptr;
+  /* Skip over any leading spaces */
+
+  ptr = skip_space(ptr);
+
+  /* The first no-space is the beginning of the variable name */
+
+  *varname = skip_space(ptr);
   *varval = NULL;
 
-   ptr = find_name_end(ptr);
-   if (*ptr && *ptr != '=')
+  /* Parse to the end of the variable name */
+
+  ptr = find_name_end(ptr);
+
+  /* An equal sign is expected next, perhaps after some white space */
+
+  if (*ptr && *ptr != '=')
     {
+      /* Some else follows the variable name.  Terminate the variable
+       * name and skip over any spaces.
+       */
+
       *ptr = '\0';
        ptr = skip_space(ptr + 1);
     }
 
+  /* Verify that the equal sign is present */
+
   if (*ptr == '=')
     {
+      /* Make sure that the variable name is terminated (this was already
+       * done if the name was followed by white space.
+       */
+
       *ptr = '\0';
+
+      /* The variable value should follow =, perhaps separated by some
+       * white space.
+       */
+ 
       ptr = skip_space(ptr + 1);
       if (*ptr)
         {
+          /* Yes.. a variable follows.  Save the pointer to the start
+           * of the variable string.
+           */
+
           *varval = ptr;
+
+          /* Find the end of the variable string and make sure that it
+           * is terminated.
+           */
+
           ptr = find_value_end(ptr);
           *ptr = '\0';
         }
     }
 }
 
+static char *dequote_value(const char *varname, char *varval)
+{
+  const char **dqnam;
+  char *dqval = varval;
+  int len;
+
+  if (dqval)
+    {
+      /* Check if the variable name is in the list of strings to be dequoated */
+
+      for (dqnam = dequote_list; *dqnam; dqnam++)
+        {
+          if (strcmp(*dqnam, varname) == 0)
+            {
+              break;
+            }
+        }
+
+      /* Did we find the variable name in the list of configuration variables
+       * to be dequoated?
+       */
+
+      if (*dqnam)
+        {
+          /* Yes... Check if there is a traiing quote */
+
+          len = strlen(dqval);
+          if (dqval[len-1] == '"')
+            {
+              /* Yes... replace it with a terminator */
+
+              dqval[len-1] = '\0';
+              len--;
+            }
+
+          /* Is there a leading quote? */
+
+           if (dqval[0] == '"')
+             {
+               /* Yes.. skip over the leading quote */
+
+               dqval++;
+               len--;
+             }
+
+           /* Handle the case where nothing is left after dequoting */
+
+           if (len < 0)
+             {
+               dqval = NULL;
+             }
+        }
+    }
+
+  return dqval;
+}
+
 /****************************************************************************
  * Public Functions
  ****************************************************************************/
@@ -141,22 +259,47 @@ void parse_file(FILE *stream)
   char *varval;
   char *ptr;
 
+  /* Loop until the entire file has been parsed. */
+
   do
     {
+      /* Read the next line from the file */
+
       ptr = read_line(stream);
       if (ptr)
         {
+          /* Parse the line into a variable and a value field */
+
           parse_line(ptr, &varname, &varval);
+
+          /* Was a variable name found? */
+
           if (varname)
             {
+              /* Yes.. dequote the value if necessary */
+
+              varval = dequote_value(varname, varval);
+
+              /* If no value was provided or if the special value 'n' was provided,
+               * then undefine the configuration variable.
+               */
+
               if (!varval || strcmp(varval, "n") == 0)
                 {
                   printf("#undef %s\n", varname);
                 }
+
+              /* Simply define the configuration variable if it has the special
+               * value "y"
+               */
+
               else if (strcmp(varval, "y") == 0)
                 {
                   printf("#define %s 1\n", varname);
                 }
+
+              /* Otherwise, use the value as provided */
+
               else
                 {
                   printf("#define %s %s\n", varname, varval);
diff --git a/nuttx/tools/cfgparser.h b/nuttx/tools/cfgparser.h
index 02de42928..b1c4bae76 100644
--- a/nuttx/tools/cfgparser.h
+++ b/nuttx/tools/cfgparser.h
@@ -2,7 +2,7 @@
  * tools/cfgpaser.h
  *
  *   Copyright (C) 2007-2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
diff --git a/nuttx/tools/configure.sh b/nuttx/tools/configure.sh
index 3aaed0681..8b4a3e486 100755
--- a/nuttx/tools/configure.sh
+++ b/nuttx/tools/configure.sh
@@ -2,7 +2,7 @@
 # configure.sh
 #
 #   Copyright (C) 2007, 2008, 2011 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+#   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
diff --git a/nuttx/tools/csvparser.c b/nuttx/tools/csvparser.c
new file mode 100644
index 000000000..739e5e1f8
--- /dev/null
+++ b/nuttx/tools/csvparser.c
@@ -0,0 +1,205 @@
+/****************************************************************************
+ * tools/csvparser.c
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <ctype.h>
+#include <errno.h>
+
+#include "csvparser.h"
+
+/****************************************************************************
+ * Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+bool g_debug;
+char g_line[LINESIZE+1];
+char g_parm[MAX_FIELDS][MAX_PARMSIZE];
+int g_lineno;
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+static char *skip_space(char *ptr)
+{
+  while (*ptr && isspace((int)*ptr)) ptr++;
+  return ptr;
+}
+
+static char *copy_parm(char *src, char *dest)
+{
+  char *start = src;
+  int i;
+
+  for (i = 0; i < MAX_PARMSIZE; i++)
+    {
+      if (*src == '"')
+        {
+          *dest = '\0';
+          return src;
+        }
+      else if (*src == '\n' || *src == '\0')
+        {
+          fprintf(stderr, "%d: Unexpected end of line: \"%s\"\n", g_lineno, start);
+          exit(4);
+        }
+      else
+        {
+          *dest++ = *src++;
+        }
+    }
+
+  fprintf(stderr, "%d: Parameter too long: \"%s\"\n", g_lineno, start);
+  exit(3);
+}
+
+static char *find_parm(char *ptr)
+{
+  char *start = ptr;
+
+  if (*ptr != '"')
+    {
+      fprintf(stderr, "%d: I'm confused: \"%s\"\n", g_lineno, start);
+      exit(5);
+    }
+  ptr++;
+
+  ptr = skip_space(ptr);
+  if (*ptr == '\n' || *ptr == '\0')
+    {
+      return NULL;
+    }
+  else if (*ptr != ',')
+    {
+      fprintf(stderr, "%d: Expected ',': \"%s\"\n", g_lineno, start);
+      exit(6);
+    }
+  ptr++;
+
+  ptr = skip_space(ptr);
+  if (*ptr != '"')
+    {
+      fprintf(stderr, "%d: Expected \": \"%s\"\n", g_lineno, start);
+      exit(7);
+    }
+  ptr++;
+
+  return ptr;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+char *read_line(FILE *stream)
+{
+  char *ptr;
+
+  for (;;)
+    {
+      g_line[LINESIZE] = '\0';
+      if (!fgets(g_line, LINESIZE, stream))
+        {
+          return NULL;
+        }
+      else
+        {
+          g_lineno++;
+          if (g_debug)
+            {
+              printf("Line: %s\n", g_line);
+            }
+
+          ptr = skip_space(g_line);
+          if (*ptr && *ptr != '#' && *ptr != '\n')
+            {
+              return ptr;
+            }
+        }
+    }
+}
+
+int parse_csvline(char *ptr)
+{
+  int nparms;
+  int i;
+
+  /* Format "arg1","arg2","arg3",... Spaces will be tolerated outside of the
+   * quotes.  Any initial spaces have already been skipped so the first thing
+   * should be '"'.
+   */
+
+  if (*ptr != '"')
+    {
+      fprintf(stderr, "%d: Bad line: \"%s\"\n", g_lineno, g_line);
+      exit(2);
+    }
+
+  ptr++;
+  nparms = 0;
+
+  do
+    {
+      ptr = copy_parm(ptr, &g_parm[nparms][0]);
+      nparms++;
+      ptr = find_parm(ptr);
+    }
+  while (ptr);
+
+  if (g_debug)
+    {
+      printf("Parameters: %d\n", nparms);
+      for (i = 0; i < nparms; i++)
+        {
+          printf("  Parm%d: \"%s\"\n", i+1, g_parm[i]);
+        }
+    }
+  return nparms;
+}
diff --git a/nuttx/tools/csvparser.h b/nuttx/tools/csvparser.h
new file mode 100644
index 000000000..872dc3c02
--- /dev/null
+++ b/nuttx/tools/csvparser.h
@@ -0,0 +1,76 @@
+/****************************************************************************
+ * tools/csvparser.h
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#ifndef __TOOLS_CSVPARSER_H
+#define __TOOLS_CSVPARSER_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <stdbool.h>
+#include <limits.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define LINESIZE      (PATH_MAX > 256 ? PATH_MAX : 256)
+
+#define MAX_FIELDS    16
+#define MAX_PARMSIZE  128
+#define NAME_INDEX    0
+#define HEADER_INDEX  1
+#define COND_INDEX    2
+#define RETTYPE_INDEX 3
+#define PARM1_INDEX   4
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+extern bool g_debug;
+extern char g_line[LINESIZE+1];
+extern char g_parm[MAX_FIELDS][MAX_PARMSIZE];
+extern int  g_lineno;
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+char *read_line(FILE *stream);
+int parse_csvline(char *ptr);
+
+#endif /* __TOOLS_CSVPARSER_H */
diff --git a/nuttx/tools/define.sh b/nuttx/tools/define.sh
index 8b2b0e364..c53cb92a8 100755
--- a/nuttx/tools/define.sh
+++ b/nuttx/tools/define.sh
@@ -2,7 +2,7 @@
 # tools/define.sh
 #
 #   Copyright (C) 2011 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+#   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
diff --git a/nuttx/tools/indent.sh b/nuttx/tools/indent.sh
index 938502e0f..739b791bd 100755
--- a/nuttx/tools/indent.sh
+++ b/nuttx/tools/indent.sh
@@ -3,7 +3,7 @@
 # tools/indent.sh
 #
 #   Copyright (C) 2008, 2010 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+#   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
diff --git a/nuttx/tools/link.sh b/nuttx/tools/link.sh
index 7927d65c8..da1e6e7ae 100755
--- a/nuttx/tools/link.sh
+++ b/nuttx/tools/link.sh
@@ -3,7 +3,7 @@
 # tools/link.sh
 #
 #   Copyright (C) 2008 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+#   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
diff --git a/nuttx/tools/mkconfig.c b/nuttx/tools/mkconfig.c
index b3749266c..2d2fff5c5 100644
--- a/nuttx/tools/mkconfig.c
+++ b/nuttx/tools/mkconfig.c
@@ -44,7 +44,7 @@
 #include "cfgparser.h"
 
 /****************************************************************************
- * Definitions
+ * Pre-processor Definitions
  ****************************************************************************/
 
 #define DEFCONFIG ".config"
@@ -265,6 +265,12 @@ int main(int argc, char **argv, char **envp)
   printf("# undef CONFIG_DEBUG_SPI\n");
   printf("# undef CONFIG_DEBUG_STACK\n");
   printf("#endif\n\n");
+  printf("/* User entry point. This is provided as a fall-back to keep compatibility\n");
+  printf(" * with existing code, for builds which do not define CONFIG_USER_ENTRYPOINT.\n");
+  printf(" */\n\n");
+  printf("#ifndef CONFIG_USER_ENTRYPOINT\n");
+  printf("# define CONFIG_USER_ENTRYPOINT user_start\n");
+  printf("#endif\n\n");
   printf("#endif /* __INCLUDE_NUTTX_CONFIG_H */\n");
   fclose(stream);
   return 0;
diff --git a/nuttx/tools/mkdeps.sh b/nuttx/tools/mkdeps.sh
index 6d83f2ca0..acb600150 100755
--- a/nuttx/tools/mkdeps.sh
+++ b/nuttx/tools/mkdeps.sh
@@ -3,7 +3,7 @@
 # tools/mkdeps.sh
 #
 #   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+#   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
diff --git a/nuttx/tools/mkfsdata.pl b/nuttx/tools/mkfsdata.pl
new file mode 100755
index 000000000..589ad5f08
--- /dev/null
+++ b/nuttx/tools/mkfsdata.pl
@@ -0,0 +1,115 @@
+#!/usr/bin/perl
+# tools/mkfsdata.pl
+#
+# Extracted from uIP which has a license that is compatible with NuttX.
+# There is no authorship, copyright, or licensing information in the
+# original file.  Possibly written by Adam Dunkels.
+#
+# 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.
+#
+
+open(OUTPUT, "> httpd_fsdata.c");
+
+chdir("httpd-fs");
+
+opendir(DIR, ".");
+@files =  grep { !/^\./ && !/(CVS|~)/ } readdir(DIR);
+closedir(DIR);
+
+print(OUTPUT "#include <apps/netutils/httpd.h>\n\n");
+print(OUTPUT "#ifndef NULL\n#define NULL 0\n#endif\n\n");
+
+foreach $file (@files) {  
+   
+    if(-d $file && $file !~ /^\./) {
+        print "Processing directory $file\n";
+        opendir(DIR, $file);
+        @newfiles =  grep { !/^\./ && !/(CVS|~)/ } readdir(DIR);
+        closedir(DIR);
+        printf "Adding files @newfiles\n";
+        @files = (@files, map { $_ = "$file/$_" } @newfiles);
+        next;
+    }
+}
+
+foreach $file (@files) {
+    if(-f $file) {
+
+        print "Adding file $file\n";
+
+        open(FILE, $file) || die "Could not open file $file\n";
+
+        $file =~ s-^-/-;
+        $fvar = $file;
+        $fvar =~ s-/-_-g;
+        $fvar =~ s-\.-_-g;
+        # for AVR, add PROGMEM here
+        print(OUTPUT "static const unsigned char data".$fvar."[] =\n");
+        print(OUTPUT "{\n  /* $file */\n\n  ");
+        for($j = 0; $j < length($file); $j++) {
+            printf(OUTPUT "%#02x, ", unpack("C", substr($file, $j, 1)));
+        }
+        printf(OUTPUT "0x00,\n  ");
+        
+        $i = 0;        
+        while(read(FILE, $data, 1)) {
+            printf(OUTPUT "%#02x, ", unpack("C", $data));
+            $i++;
+            if($i == 10) {
+                print(OUTPUT "\n");
+                $i = 0;
+                print(OUTPUT "  ");
+            }
+        }
+        print(OUTPUT "0x00\n};\n\n");
+        close(FILE);
+        push(@fvars, $fvar);
+        push(@pfiles, $file);
+    }
+}
+
+for($i = 0; $i < @fvars; $i++) {
+    $file = $pfiles[$i];
+    $fvar = $fvars[$i];
+
+    if($i == 0) {
+        $prevfile = "NULL";
+    } else {
+        $prevfile = "file" . $fvars[$i - 1];
+    }
+    if($i == @fvars-1) {
+        print(OUTPUT "const struct httpd_fsdata_file g_httpdfs_root[] =\n    {{$prevfile, data$fvar, ");
+    } else {
+        print(OUTPUT "const struct httpd_fsdata_file file".$fvar."[] =\n    {{$prevfile, data$fvar, ");
+    }
+    print(OUTPUT "data$fvar + ". (length($file) + 1) .", ");
+    print(OUTPUT "sizeof(data$fvar) - ". (length($file) + 1) ."}};\n\n");
+}
+
+# print(OUTPUT "#define HTTPD_FS_ROOT     file$fvars[$i - 1]\n\n");
+print(OUTPUT "const int g_httpd_numfiles = $i;\n");
diff --git a/nuttx/tools/mknulldeps.sh b/nuttx/tools/mknulldeps.sh
index 6dc3e9635..033205e6f 100755
--- a/nuttx/tools/mknulldeps.sh
+++ b/nuttx/tools/mknulldeps.sh
@@ -2,7 +2,7 @@
 # tools/mknulldeps.sh
 #
 #   Copyright (C) 2008 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+#   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
diff --git a/nuttx/tools/mkromfsimg.sh b/nuttx/tools/mkromfsimg.sh
index b628d2419..b77411980 100755
--- a/nuttx/tools/mkromfsimg.sh
+++ b/nuttx/tools/mkromfsimg.sh
@@ -3,7 +3,7 @@
 # tools/mkromfsimg.sh
 #
 #   Copyright (C) 2008, 2011 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+#   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
diff --git a/nuttx/tools/mksymtab.c b/nuttx/tools/mksymtab.c
new file mode 100644
index 000000000..c5a46a92b
--- /dev/null
+++ b/nuttx/tools/mksymtab.c
@@ -0,0 +1,289 @@
+/****************************************************************************
+ * tools/mksymtab.c
+ *
+ *   Copyright (C) 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <errno.h>
+
+#include "csvparser.h"
+
+/****************************************************************************
+ * Definitions
+ ****************************************************************************/
+
+#define MAX_HEADER_FILES 500
+#define SYMTAB_NAME      "g_symtab"
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static const char *g_hdrfiles[MAX_HEADER_FILES];
+static int nhdrfiles;
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+static void show_usage(const char *progname)
+{
+  fprintf(stderr, "USAGE: %s <cvs-file> <symtab-file>\n\n", progname);
+  fprintf(stderr, "Where:\n\n");
+  fprintf(stderr, "  <cvs-file>   : The path to the input CSV file\n");
+  fprintf(stderr, "  <symtab-file>: The path to the output symbol table file\n");
+  fprintf(stderr, "  -d           : Enable debug output\n");
+  exit(EXIT_FAILURE);
+}
+
+static bool check_hdrfile(const char *hdrfile)
+{
+  int i;
+
+  for (i = 0; i < nhdrfiles; i++)
+    {
+      if (strcmp(g_hdrfiles[i], hdrfile) == 0)
+        {
+          return true;
+        }
+    }
+
+  return false;
+}
+
+static void add_hdrfile(const char *hdrfile)
+{
+  if (hdrfile && strlen(hdrfile) > 0)
+    {
+      if (!check_hdrfile(hdrfile))
+        {
+          if (nhdrfiles > MAX_HEADER_FILES)
+            {
+              fprintf(stderr, "ERROR:  Too man header files.  Increase MAX_HEADER_FILES\n");
+              exit(EXIT_FAILURE);
+            }
+
+          g_hdrfiles[nhdrfiles] = strdup(hdrfile);
+          nhdrfiles++;
+        }
+    }
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+int main(int argc, char **argv, char **envp)
+{
+  char *csvpath;
+  char *symtab;
+  char *nextterm;
+  char *finalterm;
+  char *ptr;
+  bool cond;
+  FILE *instream;
+  FILE *outstream;
+  int ch;
+  int i;
+
+  /* Parse command line options */
+
+  g_debug = false;
+
+  while ((ch = getopt(argc, argv, ":d")) > 0)
+    {
+      switch (ch)
+        {
+          case 'd' :
+            g_debug = true;
+            break;
+
+          case '?' :
+            fprintf(stderr, "Unrecognized option: %c\n", optopt);
+            show_usage(argv[0]);
+
+          case ':' :
+            fprintf(stderr, "Missing option argument, option: %c\n", optopt);
+            show_usage(argv[0]);
+
+           break;
+            fprintf(stderr, "Unexpected option: %c\n", ch);
+            show_usage(argv[0]);
+        }
+    }
+
+  if (optind >= argc)
+    {
+       fprintf(stderr, "Missing <cvs-file> and <symtab-file>\n");
+       show_usage(argv[0]);          
+    }
+
+  csvpath = argv[optind];
+  optind++;
+
+  if (optind >= argc)
+    {
+       fprintf(stderr, "Missing <symtab-file>\n");
+       show_usage(argv[0]);      
+    }
+
+  symtab = argv[optind];
+  optind++;
+
+  if (optind < argc)
+    {
+       fprintf(stderr, "Unexpected garbage at the end of the line\n");
+       show_usage(argv[0]);      
+    }    
+
+  /* Open the CSV file for reading */
+
+  instream = fopen(csvpath, "r");
+  if (!instream)
+    {
+      fprintf(stderr, "open %s failed: %s\n", csvpath, strerror(errno));
+      exit(EXIT_FAILURE);
+    }
+
+  /* Open the Symbol table file for writing */
+
+  outstream = fopen(symtab, "w");
+  if (!outstream)
+    {
+      fprintf(stderr, "open %s failed: %s\n", csvpath, strerror(errno));
+      exit(EXIT_FAILURE);
+    }
+
+  /* Get all of the header files that we need to include */
+
+  while ((ptr = read_line(instream)) != NULL)
+    {
+      /* Parse the line from the CVS file */
+
+      int nargs = parse_csvline(ptr);
+      if (nargs < PARM1_INDEX)
+        {
+          fprintf(stderr, "Only %d arguments found: %s\n", nargs, g_line);
+          exit(EXIT_FAILURE);
+        }
+
+      /* Add the header file to the list of header files we need to include */
+
+      add_hdrfile(g_parm[HEADER_INDEX]);
+    }
+
+  /* Back to the beginning */
+
+  rewind(instream);
+
+  /* Output up-front file boilerplate */
+
+  fprintf(outstream, "/* %s: Auto-generated symbol table.  Do not edit */\n\n", symtab);
+  fprintf(outstream, "#include <nuttx/config.h>\n");
+  fprintf(outstream, "#include <nuttx/symtab.h>\n\n");
+
+  /* Output all of the require header files */
+
+  for (i = 0; i < nhdrfiles; i++)
+    {
+      fprintf(outstream, "#include <%s>\n", g_hdrfiles[i]);
+    }
+
+  /* Now the symbol table itself */
+
+  fprintf(outstream, "\nstruct symtab_s %s[] =\n", SYMTAB_NAME);
+  fprintf(outstream, "{\n");
+
+  /* Parse each line in the CVS file */
+
+  nextterm  = "";
+  finalterm = "";
+
+  while ((ptr = read_line(instream)) != NULL)
+    {
+      /* Parse the line from the CVS file */
+
+      int nargs = parse_csvline(ptr);
+      if (nargs < PARM1_INDEX)
+        {
+          fprintf(stderr, "Only %d arguments found: %s\n", nargs, g_line);
+          exit(EXIT_FAILURE);
+        }
+
+      /* Output any conditional compilation */
+
+      cond = (g_parm[COND_INDEX] && strlen(g_parm[COND_INDEX]) > 0);
+      if (cond)
+        {
+          fprintf(outstream, "%s#if %s\n", nextterm, g_parm[COND_INDEX]);
+          nextterm  = "";
+        }
+
+      /* Output the symbol table entry */
+
+      fprintf(outstream, "%s  { \"%s\", (FAR const void *)%s }",
+              nextterm, g_parm[NAME_INDEX], g_parm[NAME_INDEX]);
+
+      if (cond)
+        {
+          nextterm  = ",\n#endif\n";
+          finalterm = "\n#endif\n";
+        }
+      else
+        {
+          nextterm  = ",\n";
+          finalterm = "\n";
+        }
+    }
+
+  fprintf(outstream, "%s};\n\n", finalterm);
+  fprintf(outstream, "#define NSYMBOLS (sizeof(%s) / sizeof (struct symtab_s))\n", SYMTAB_NAME);
+
+  /* Close the CSV and symbol table files and exit */
+
+  fclose(instream);
+  fclose(outstream);
+  return EXIT_SUCCESS;
+}
diff --git a/nuttx/tools/mksyscall.c b/nuttx/tools/mksyscall.c
index a8f2cf99b..a75e82d28 100644
--- a/nuttx/tools/mksyscall.c
+++ b/nuttx/tools/mksyscall.c
@@ -1,8 +1,8 @@
 /****************************************************************************
  * tools/mksyscall.c
  *
- *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
@@ -41,174 +41,26 @@
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
-#include <limits.h>
-#include <ctype.h>
 #include <unistd.h>
-#include <getopt.h>
 #include <errno.h>
 
+#include "csvparser.h"
+
 /****************************************************************************
  * Definitions
  ****************************************************************************/
 
-#define LINESIZE      (PATH_MAX > 256 ? PATH_MAX : 256)
-
-#define MAX_FIELDS    16
-#define MAX_PARMSIZE  128
-#define NAME_INDEX    0
-#define HEADER_INDEX  1
-#define COND_INDEX    2
-#define RETTYPE_INDEX 3
-#define PARM1_INDEX   4
-
 /****************************************************************************
  * Private Data
  ****************************************************************************/
 
-static bool g_debug;
 static bool g_inline;
-static char g_line[LINESIZE+1];
-static char g_parm[MAX_FIELDS][MAX_PARMSIZE];
 static FILE *g_stubstream;
-static int g_lineno;
 
 /****************************************************************************
  * Private Functions
  ****************************************************************************/
 
-static char *skip_space(char *ptr)
-{
-  while (*ptr && isspace(*ptr)) ptr++;
-  return ptr;
-}
-
-static char *read_line(FILE *stream)
-{
-  char *ptr;
-
-  for (;;)
-    {
-      g_line[LINESIZE] = '\0';
-      if (!fgets(g_line, LINESIZE, stream))
-        {
-          return NULL;
-        }
-      else
-        {
-          g_lineno++;
-          if (g_debug)
-            {
-              printf("Line: %s\n", g_line);
-            }
-
-          ptr = skip_space(g_line);
-          if (*ptr && *ptr != '#' && *ptr != '\n')
-            {
-              return ptr;
-            }
-        }
-    }
-}
-
-static char *copy_parm(char *src, char *dest)
-{
-  char *start = src;
-  int i;
-
-  for (i = 0; i < MAX_PARMSIZE; i++)
-    {
-      if (*src == '"')
-        {
-          *dest = '\0';
-          return src;
-        }
-      else if (*src == '\n' || *src == '\0')
-        {
-          fprintf(stderr, "%d: Unexpected end of line: \"%s\"\n", g_lineno, start);
-          exit(4);
-        }
-      else
-        {
-          *dest++ = *src++;
-        }
-    }
-
-  fprintf(stderr, "%d: Parameter too long: \"%s\"\n", g_lineno, start);
-  exit(3);
-}
-
-static char *find_parm(char *ptr)
-{
-  char *start = ptr;
-
-  if (*ptr != '"')
-    {
-      fprintf(stderr, "%d: I'm confused: \"%s\"\n", g_lineno, start);
-      exit(5);
-    }
-  ptr++;
-
-  ptr = skip_space(ptr);
-  if (*ptr == '\n' || *ptr == '\0')
-    {
-      return NULL;
-    }
-  else if (*ptr != ',')
-    {
-      fprintf(stderr, "%d: Expected ',': \"%s\"\n", g_lineno, start);
-      exit(6);
-    }
-  ptr++;
-
-  ptr = skip_space(ptr);
-  if (*ptr != '"')
-    {
-      fprintf(stderr, "%d: Expected \": \"%s\"\n", g_lineno, start);
-      exit(7);
-    }
-  ptr++;
-
-  return ptr;
-}
-
-static int parse_csvline(char *ptr)
-{
-  int nparms;
-  int i;
-
-  /* Format "arg1","arg2","arg3",... Spaces will be tolerated outside of the
-   * quotes.  Any initial spaces have already been skipped so the first thing
-   * should be '"'.
-   */
-
-  if (*ptr != '"')
-    {
-      fprintf(stderr, "%d: Bad line: \"%s\"\n", g_lineno, g_line);
-      exit(2);
-    }
-
-  ptr++;
-  nparms = 0;
-
-  do
-    {
-      ptr = copy_parm(ptr, &g_parm[nparms][0]);
-      nparms++;
-      ptr = find_parm(ptr);
-    }
-  while (ptr);
-
-  if (g_debug)
-    {
-      printf("Parameters: %d\n", nparms);
-      for (i = 0; i < nparms; i++)
-        {
-          printf("  Parm%d: \"%s\"\n", i+1, g_parm[i]);
-        }
-    }
-  return nparms;
-}
-
 static bool is_vararg(const char *type, int index, int nparms)
 {
   if (strcmp(type,"...") == 0)
@@ -719,6 +571,7 @@ static void show_usage(const char *progname)
   fprintf(stderr, "\t-p : Generate proxies\n");
   fprintf(stderr, "\t-s : Generate stubs\n");
   fprintf(stderr, "\t-i : Generate proxies as static inline functions\n");
+  fprintf(stderr, "\t-d : Enable debug output\n");
   exit(1);
 }
 
diff --git a/nuttx/tools/mkversion.c b/nuttx/tools/mkversion.c
index f2086d13a..32068df38 100644
--- a/nuttx/tools/mkversion.c
+++ b/nuttx/tools/mkversion.c
@@ -2,7 +2,7 @@
  * tools/mkversion.c
  *
  *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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