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

97 files changed, 3875 insertions, 7102 deletions

diff --git a/apps/ChangeLog.txt b/apps/ChangeLog.txt
index bcc0ac172..05cd6176a 100644
--- a/apps/ChangeLog.txt
+++ b/apps/ChangeLog.txt
@@ -434,7 +434,7 @@
 	  tests will now use a relative path to the program and expect the binfmt/
 	  logic to find the absolute path to the program using the PATH variable.
 
-6.25 2013-xx-xx Gregory Nutt <gnutt@nuttx.org>
+6.25 2013-02-01 Gregory Nutt <gnutt@nuttx.org>
 
 	* Makefiles: Removed dependency of distclean on clean in most top-level
 	  files.  It makes sense for 'leaf' Makefiles to have this dependency,
@@ -461,7 +461,7 @@
 	  the USB HID keyboard report data.
 	* apps/examples/wlan: Remove non-functional example.
 	* apps/examples/ostest/vfork.c:  Added a test of vfork().
-	* apps/exampes/posix_spawn: Added a test of poxis_spawn().
+	* apps/exampes/posix_spawn: Added a test of posix_spawn().
 	* apps/examples/ostest:  Extend signal handler test to catch
 	  death-of-child signals (SIGCHLD).
 	* apps/examples/ostest/waitpid.c:  Add a test for waitpid(), waitid(),
@@ -478,7 +478,7 @@
 	* apps/include/builtin.h:  Some of the content of
 	  apps/include/apps.h moved to include/nuttx/binfmt/builtin.h.
 	  apps/include/apps.h renamed builtin.h
-	* apps/builtin/exec_builtins.c:  Move utility builtin
+	* apps/builtin/exec_builtins.c:  Move builtin
 	  utility functions from apps/builtin/exec_builtins.c to
 	  binfmt/libbuiltin/libbuiltin_utils.c
 	* apps/nshlib/nsh_mountcmds.c:  The block driver/source
@@ -492,3 +492,18 @@
 	  the entrypoint.  Should be ftpd_main (from Yan T.)
 	* apps/netutils/telnetd/telnetd_driver: Was stuck in a loop if
 	  recv[from]() ever returned a value <= 0.
+	* apps/examples/nettest and poll:  Complete Kconfig files.
+	* apps/examples/ostest/waitpid.c:  Need to use WEXITSTATUS()
+	  to decode the correct exit status.
+	* apps/system/usbmonitor:  A daemon that can be used to monitor USB
+	  trace outpout.
+	* apps/nshlib/nsh_usbdev.c, nsh_consolemain.c, nsh_session.c, nsh_script.c:
+	  Add support for a login script.  The init.d/rcS script will be executed
+	  once when NSH starts; the .nshrc script will be executed for each session:
+	  Once for serial, once for each USB connection, once for each Telnet
+	  session.
+	* apps/system/readline: Correct readline() return value.  Was not
+	  any returning special values when end-of-file or read errors
+	  occur (it would return an empty string which is not very useful).
+
+6.26 2013-xx-xx Gregory Nutt <gnutt@nuttx.org>
diff --git a/apps/builtin/exec_builtin.c b/apps/builtin/exec_builtin.c
index 60e8b742d..5d3a1c08a 100644
--- a/apps/builtin/exec_builtin.c
+++ b/apps/builtin/exec_builtin.c
@@ -309,7 +309,7 @@ static inline int builtin_startproxy(int index, FAR const char **argv,
 {
   struct sched_param param;
   pid_t proxy;
-  int errcode;
+  int errcode = OK;
 #ifdef CONFIG_SCHED_WAITPID
   int status;
 #endif
diff --git a/apps/commander/commander.c b/apps/commander/commander.c
index 333dcca3e..3996572cf 100644
--- a/apps/commander/commander.c
+++ b/apps/commander/commander.c
@@ -1465,9 +1465,6 @@ int commander_thread_main(int argc, char *argv[])
 				} else {
 					current_status.flag_external_manual_override_ok = true;
 				}
-
-			} else {
-				warnx("ARMED, rejecting sys type change\n");
 			}
 		}
 
@@ -1684,12 +1681,13 @@ int commander_thread_main(int argc, char *argv[])
 			orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps_position);
 
 			/* check for first, long-term and valid GPS lock -> set home position */
-			float hdop_m = gps_position.eph / 100.0f;
-			float vdop_m = gps_position.epv / 100.0f;
+			float hdop_m = gps_position.eph_m;
+			float vdop_m = gps_position.epv_m;
 
 			/* check if gps fix is ok */
 			// XXX magic number
-			float dop_threshold_m = 2.0f;
+			float hdop_threshold_m = 4.0f;
+			float vdop_threshold_m = 8.0f;
 
 			/*
 			 * If horizontal dilution of precision (hdop / eph)
@@ -1700,10 +1698,12 @@ int commander_thread_main(int argc, char *argv[])
 			 * the system is currently not armed, set home
 			 * position to the current position.
 			 */
-			if (gps_position.fix_type == GPS_FIX_TYPE_3D && (hdop_m < dop_threshold_m)
-				&& (vdop_m < dop_threshold_m)
+
+			if (gps_position.fix_type == GPS_FIX_TYPE_3D
+				&& (hdop_m < hdop_threshold_m)
+				&& (vdop_m < vdop_threshold_m)
 				&& !home_position_set
-				&& (hrt_absolute_time() - gps_position.timestamp < 2000000)
+				&& (hrt_absolute_time() - gps_position.timestamp_position < 2000000)
 				&& !current_status.flag_system_armed) {
 				warnx("setting home position");
 
@@ -1712,11 +1712,11 @@ int commander_thread_main(int argc, char *argv[])
 				home.lon = gps_position.lon;
 				home.alt = gps_position.alt;
 
-				home.eph = gps_position.eph;
-				home.epv = gps_position.epv;
+				home.eph_m = gps_position.eph_m;
+				home.epv_m = gps_position.epv_m;
 
-				home.s_variance = gps_position.s_variance;
-				home.p_variance = gps_position.p_variance;
+				home.s_variance_m_s = gps_position.s_variance_m_s;
+				home.p_variance_m = gps_position.p_variance_m;
 
 				/* announce new home position */
 				if (home_pub > 0) {
diff --git a/apps/drivers/boards/px4fmu/px4fmu_init.c b/apps/drivers/boards/px4fmu/px4fmu_init.c
index e88d2861e..9960c6bbd 100644
--- a/apps/drivers/boards/px4fmu/px4fmu_init.c
+++ b/apps/drivers/boards/px4fmu/px4fmu_init.c
@@ -79,13 +79,13 @@
 
 #ifdef CONFIG_CPP_HAVE_VARARGS
 #  ifdef CONFIG_DEBUG
-#    define message(...) lib_lowprintf(__VA_ARGS__)
+#    define message(...) lowsyslog(__VA_ARGS__)
 #  else
 #    define message(...) printf(__VA_ARGS__)
 #  endif
 #else
 #  ifdef CONFIG_DEBUG
-#    define message lib_lowprintf
+#    define message lowsyslog
 #  else
 #    define message printf
 #  endif
diff --git a/apps/drivers/drv_gps.h b/apps/drivers/drv_gps.h
new file mode 100644
index 000000000..1dda8ef0b
--- /dev/null
+++ b/apps/drivers/drv_gps.h
@@ -0,0 +1,70 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file GPS driver interface.
+ */
+
+#ifndef _DRV_GPS_H
+#define _DRV_GPS_H
+
+#include <stdint.h>
+#include <sys/ioctl.h>
+
+#include "drv_sensor.h"
+#include "drv_orb_dev.h"
+
+#define GPS_DEFAULT_UART_PORT "/dev/ttyS3"
+
+#define GPS_DEVICE_PATH	"/dev/gps"
+
+typedef enum {
+	GPS_DRIVER_MODE_NONE = 0,
+	GPS_DRIVER_MODE_UBX,
+	GPS_DRIVER_MODE_MTK,
+	GPS_DRIVER_MODE_NMEA,
+} gps_driver_mode_t;
+
+
+/*
+ * ObjDev tag for GPS data.
+ */
+ORB_DECLARE(gps);
+
+/*
+ * ioctl() definitions
+ */
+#define _GPSIOCBASE			(0x2800)            //TODO: arbitrary choice...
+#define _GPSIOC(_n)		(_IOC(_GPSIOCBASE, _n))
+
+#endif /* _DRV_GPS_H */
diff --git a/apps/gps/Makefile b/apps/drivers/gps/Makefile
index 7aaaf50cb..3859a88a5 100644
--- a/apps/gps/Makefile
+++ b/apps/drivers/gps/Makefile
@@ -32,28 +32,11 @@
 ############################################################################
 
 #
-# Makefile to build the GPS receiver application
+# GPS driver
 #
 
 APPNAME		 = gps
 PRIORITY	 = SCHED_PRIORITY_DEFAULT
 STACKSIZE	 = 2048
 
-CSRCS		 = gps.c \
-		   ubx.c \
-		   mtk.c \
-		   nmea_helper.c \
-		   nmealib/context.c \
-		   nmealib/generate.c \
-		   nmealib/generator.c \
-		   nmealib/gmath.c \
-		   nmealib/info.c \
-		   nmealib/parse.c \
-		   nmealib/parser.c \
-		   nmealib/sentence.c \
-		   nmealib/time.c \
-		   nmealib/tok.c
-
-INCLUDES	 = $(TOPDIR)/../mavlink/include/mavlink
-
 include $(APPDIR)/mk/app.mk
diff --git a/apps/drivers/gps/gps.cpp b/apps/drivers/gps/gps.cpp
new file mode 100644
index 000000000..6d7cfcc68
--- /dev/null
+++ b/apps/drivers/gps/gps.cpp
@@ -0,0 +1,536 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file gps.cpp
+ * Driver for the GPS on a serial port
+ */
+
+#include <nuttx/clock.h>
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdbool.h>
+#include <stdlib.h>
+#include <semaphore.h>
+#include <string.h>
+#include <fcntl.h>
+#include <poll.h>
+#include <errno.h>
+#include <stdio.h>
+#include <math.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <nuttx/config.h>
+#include <nuttx/arch.h>
+#include <arch/board/board.h>
+#include <drivers/drv_hrt.h>
+#include <drivers/device/i2c.h>
+#include <systemlib/perf_counter.h>
+#include <systemlib/scheduling_priorities.h>
+#include <systemlib/err.h>
+#include <drivers/drv_gps.h>
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_gps_position.h>
+
+#include "ubx.h"
+#include "mtk.h"
+
+
+#define TIMEOUT_5HZ 400
+#define RATE_MEASUREMENT_PERIOD 5000000
+
+/* oddly, ERROR is not defined for c++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+static const int ERROR = -1;
+
+#ifndef CONFIG_SCHED_WORKQUEUE
+# error This requires CONFIG_SCHED_WORKQUEUE.
+#endif
+
+
+
+class GPS : public device::CDev
+{
+public:
+	GPS(const char* uart_path);
+	~GPS();
+
+	virtual int			init();
+
+	virtual int			ioctl(struct file *filp, int cmd, unsigned long arg);
+
+	/**
+	 * Diagnostics - print some basic information about the driver.
+	 */
+	void				print_info();
+
+private:
+
+	bool				_task_should_exit;				///< flag to make the main worker task exit
+	int				_serial_fd;					///< serial interface to GPS
+	unsigned			_baudrate;					///< current baudrate
+	char				_port[20];					///< device / serial port path
+	volatile int			_task;						//< worker task
+	bool				_healthy;					///< flag to signal if the GPS is ok
+	bool 				_baudrate_changed;				///< flag to signal that the baudrate with the GPS has changed
+	bool				_mode_changed;					///< flag that the GPS mode has changed
+	gps_driver_mode_t		_mode;						///< current mode
+	GPS_Helper			*_Helper;					///< instance of GPS parser
+	struct vehicle_gps_position_s 	_report;					///< uORB topic for gps position
+	orb_advert_t			_report_pub;					///< uORB pub for gps position
+	float				_rate;						///< position update rate
+
+
+	/**
+	 * Try to configure the GPS, handle outgoing communication to the GPS
+	 */
+	void				config();
+
+	/**
+	 * Trampoline to the worker task
+	 */
+	static void			task_main_trampoline(void *arg);
+
+
+	/**
+	 * Worker task: main GPS thread that configures the GPS and parses incoming data, always running
+	 */
+	void				task_main(void);
+
+	/**
+	 * Set the baudrate of the UART to the GPS
+	 */
+	int				set_baudrate(unsigned baud);
+
+	/**
+	 * Send a reset command to the GPS
+	 */
+	void				cmd_reset();
+
+};
+
+
+/*
+ * Driver 'main' command.
+ */
+extern "C" __EXPORT int gps_main(int argc, char *argv[]);
+
+namespace
+{
+
+GPS	*g_dev;
+
+}
+
+
+GPS::GPS(const char* uart_path) :
+	CDev("gps", GPS_DEVICE_PATH),
+	_task_should_exit(false),
+	_healthy(false),
+	_mode_changed(false),
+	_mode(GPS_DRIVER_MODE_UBX),
+	_Helper(nullptr),
+	_report_pub(-1),
+	_rate(0.0f)
+{
+	/* store port name */
+	strncpy(_port, uart_path, sizeof(_port));
+	/* enforce null termination */
+	_port[sizeof(_port) - 1] = '\0';
+
+	/* we need this potentially before it could be set in task_main */
+	g_dev = this;
+	memset(&_report, 0, sizeof(_report));
+
+	_debug_enabled = true;
+}
+
+GPS::~GPS()
+{
+	/* tell the task we want it to go away */
+	_task_should_exit = true;
+
+	/* spin waiting for the task to stop */
+	for (unsigned i = 0; (i < 10) && (_task != -1); i++) {
+		/* give it another 100ms */
+		usleep(100000);
+	}
+
+	/* well, kill it anyway, though this will probably crash */
+	if (_task != -1)
+		task_delete(_task);
+	g_dev = nullptr;
+
+}
+
+int
+GPS::init()
+{
+	int ret = ERROR;
+
+	/* do regular cdev init */
+	if (CDev::init() != OK)
+		goto out;
+
+	/* start the GPS driver worker task */
+	_task = task_create("gps", SCHED_PRIORITY_SLOW_DRIVER, 2048, (main_t)&GPS::task_main_trampoline, nullptr);
+
+	if (_task < 0) {
+		warnx("task start failed: %d", errno);
+		return -errno;
+	}
+
+	ret = OK;
+out:
+	return ret;
+}
+
+int
+GPS::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	lock();
+
+	int ret = OK;
+
+	switch (cmd) {
+	case SENSORIOCRESET:
+		cmd_reset();
+		break;
+	}
+
+	unlock();
+
+	return ret;
+}
+
+void
+GPS::task_main_trampoline(void *arg)
+{
+	g_dev->task_main();
+}
+
+void
+GPS::task_main()
+{
+	log("starting");
+
+	/* open the serial port */
+	_serial_fd = ::open(_port, O_RDWR);
+
+	if (_serial_fd < 0) {
+		log("failed to open serial port: %s err: %d", _port, errno);
+		/* tell the dtor that we are exiting, set error code */
+		_task = -1;
+		_exit(1);
+	}
+
+	uint64_t last_rate_measurement = hrt_absolute_time();
+	unsigned last_rate_count = 0;
+
+	/* loop handling received serial bytes and also configuring in between */
+	while (!_task_should_exit) {
+
+		if (_Helper != nullptr) {
+			delete(_Helper);
+			/* set to zero to ensure parser is not used while not instantiated */
+			_Helper = nullptr;
+		}
+
+		switch (_mode) {
+			case GPS_DRIVER_MODE_UBX:
+				_Helper = new UBX(_serial_fd, &_report);
+				break;
+			case GPS_DRIVER_MODE_MTK:
+				_Helper = new MTK(_serial_fd, &_report);
+				break;
+			case GPS_DRIVER_MODE_NMEA:
+				//_Helper = new NMEA(); //TODO: add NMEA
+				break;
+			default:
+				break;
+		}
+		unlock();
+		if (_Helper->configure(_baudrate) == 0) {
+			unlock();
+			while (_Helper->receive(TIMEOUT_5HZ) > 0 && !_task_should_exit) {
+//				lock();
+				/* opportunistic publishing - else invalid data would end up on the bus */
+				if (_report_pub > 0) {
+					orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
+				} else {
+					_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
+				}
+
+				last_rate_count++;
+
+				/* measure update rate every 5 seconds */
+				if (hrt_absolute_time() - last_rate_measurement > RATE_MEASUREMENT_PERIOD) {
+					_rate = last_rate_count / ((float)((hrt_absolute_time() - last_rate_measurement)) / 1000000.0f);
+					last_rate_measurement = hrt_absolute_time();
+					last_rate_count = 0;
+				}
+
+				if (!_healthy) {
+					warnx("module found");
+					_healthy = true;
+				}
+			}
+			if (_healthy) {
+				warnx("module lost");
+				_healthy = false;
+				_rate = 0.0f;
+			}
+
+			lock();
+		}
+		lock();
+
+		/* select next mode */
+		switch (_mode) {
+			case GPS_DRIVER_MODE_UBX:
+				_mode = GPS_DRIVER_MODE_MTK;
+				break;
+			case GPS_DRIVER_MODE_MTK:
+				_mode = GPS_DRIVER_MODE_UBX;
+				break;
+		//				case GPS_DRIVER_MODE_NMEA:
+		//					_mode = GPS_DRIVER_MODE_UBX;
+		//					break;
+			default:
+				break;
+		}
+
+	}
+	debug("exiting");
+
+	::close(_serial_fd);
+
+	/* tell the dtor that we are exiting */
+	_task = -1;
+	_exit(0);
+}
+
+
+
+void
+GPS::cmd_reset()
+{
+	//XXX add reset?
+}
+
+void
+GPS::print_info()
+{
+	switch (_mode) {
+		case GPS_DRIVER_MODE_UBX:
+			warnx("protocol: UBX");
+			break;
+		case GPS_DRIVER_MODE_MTK:
+			warnx("protocol: MTK");
+			break;
+		case GPS_DRIVER_MODE_NMEA:
+			warnx("protocol: NMEA");
+			break;
+		default:
+			break;
+	}
+	warnx("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_healthy) ? "OK" : "NOT OK");
+	if (_report.timestamp_position != 0) {
+		warnx("position lock: %dD, last update %4.2f seconds ago", (int)_report.fix_type,
+			(double)((float)(hrt_absolute_time() - _report.timestamp_position) / 1000000.0f));
+		warnx("lat: %d, lon: %d, alt: %d", _report.lat, _report.lon, _report.alt);
+		warnx("update rate: %6.2f Hz", (double)_rate);
+	}
+
+	usleep(100000);
+}
+
+/**
+ * Local functions in support of the shell command.
+ */
+namespace gps
+{
+
+GPS	*g_dev;
+
+void	start(const char *uart_path);
+void	stop();
+void	test();
+void	reset();
+void	info();
+
+/**
+ * Start the driver.
+ */
+void
+start(const char *uart_path)
+{
+	int fd;
+
+	if (g_dev != nullptr)
+		errx(1, "already started");
+
+	/* create the driver */
+	g_dev = new GPS(uart_path);
+
+	if (g_dev == nullptr)
+		goto fail;
+
+	if (OK != g_dev->init())
+		goto fail;
+
+	/* set the poll rate to default, starts automatic data collection */
+	fd = open(GPS_DEVICE_PATH, O_RDONLY);
+
+	if (fd < 0) {
+		errx(1, "Could not open device path: %s\n", GPS_DEVICE_PATH);
+		goto fail;
+	}
+	exit(0);
+
+fail:
+
+	if (g_dev != nullptr) {
+		delete g_dev;
+		g_dev = nullptr;
+	}
+
+	errx(1, "driver start failed");
+}
+
+/**
+ * Stop the driver.
+ */
+void
+stop()
+{
+	delete g_dev;
+	g_dev = nullptr;
+
+	exit(0);
+}
+
+/**
+ * Perform some basic functional tests on the driver;
+ * make sure we can collect data from the sensor in polled
+ * and automatic modes.
+ */
+void
+test()
+{
+
+	errx(0, "PASS");
+}
+
+/**
+ * Reset the driver.
+ */
+void
+reset()
+{
+	int fd = open(GPS_DEVICE_PATH, O_RDONLY);
+
+	if (fd < 0)
+		err(1, "failed ");
+
+	if (ioctl(fd, SENSORIOCRESET, 0) < 0)
+		err(1, "driver reset failed");
+
+	exit(0);
+}
+
+/**
+ * Print the status of the driver.
+ */
+void
+info()
+{
+	if (g_dev == nullptr)
+		errx(1, "driver not running");
+
+	g_dev->print_info();
+
+	exit(0);
+}
+
+} // namespace
+
+
+int
+gps_main(int argc, char *argv[])
+{
+
+	/* set to default */
+	char* device_name = GPS_DEFAULT_UART_PORT;
+
+	/*
+	 * Start/load the driver.
+	 */
+	if (!strcmp(argv[1], "start")) {
+		/* work around getopt unreliability */
+		if (argc > 3) {
+			if (!strcmp(argv[2], "-d")) {
+				device_name = argv[3];
+			} else {
+				goto out;
+			}
+		}
+		gps::start(device_name);
+	}
+
+	if (!strcmp(argv[1], "stop"))
+		gps::stop();
+	/*
+	 * Test the driver/device.
+	 */
+	if (!strcmp(argv[1], "test"))
+		gps::test();
+
+	/*
+	 * Reset the driver.
+	 */
+	if (!strcmp(argv[1], "reset"))
+		gps::reset();
+
+	/*
+	 * Print driver status.
+	 */
+	if (!strcmp(argv[1], "status"))
+		gps::info();
+
+out:
+	errx(1, "unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status' [-d /dev/ttyS0-n]");
+}
diff --git a/apps/drivers/gps/gps_helper.cpp b/apps/drivers/gps/gps_helper.cpp
new file mode 100644
index 000000000..9c1fad569
--- /dev/null
+++ b/apps/drivers/gps/gps_helper.cpp
@@ -0,0 +1,92 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
+ *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           Julian Oes <joes@student.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <termios.h>
+#include <errno.h>
+#include <systemlib/err.h>
+#include "gps_helper.h"
+
+/* @file gps_helper.cpp */
+
+int
+GPS_Helper::set_baudrate(const int &fd, unsigned baud)
+{
+	/* process baud rate */
+	int speed;
+
+	switch (baud) {
+	case 9600:   speed = B9600;   break;
+
+	case 19200:  speed = B19200;  break;
+
+	case 38400:  speed = B38400;  break;
+
+	case 57600:  speed = B57600;  break;
+
+	case 115200: speed = B115200; break;
+
+	warnx("try baudrate: %d\n", speed);
+
+	default:
+		warnx("ERROR: Unsupported baudrate: %d\n", baud);
+		return -EINVAL;
+	}
+	struct termios uart_config;
+	int termios_state;
+
+	/* fill the struct for the new configuration */
+	tcgetattr(fd, &uart_config);
+
+	/* clear ONLCR flag (which appends a CR for every LF) */
+	uart_config.c_oflag &= ~ONLCR;
+	/* no parity, one stop bit */
+	uart_config.c_cflag &= ~(CSTOPB | PARENB);
+
+	/* set baud rate */
+	if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
+		warnx("ERROR setting config: %d (cfsetispeed)\n", termios_state);
+		return -1;
+	}
+	if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
+		warnx("ERROR setting config: %d (cfsetospeed)\n", termios_state);
+		return -1;
+	}
+	if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) {
+		warnx("ERROR setting baudrate (tcsetattr)\n");
+		return -1;
+	}
+	/* XXX if resetting the parser here, ensure it does exist (check for null pointer) */
+	return 0;
+}
diff --git a/apps/drivers/gps/gps_helper.h b/apps/drivers/gps/gps_helper.h
new file mode 100644
index 000000000..f3d3bc40b
--- /dev/null
+++ b/apps/drivers/gps/gps_helper.h
@@ -0,0 +1,52 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
+ *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           Julian Oes <joes@student.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* @file gps_helper.h */
+
+#ifndef GPS_HELPER_H
+#define GPS_HELPER_H
+
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_gps_position.h>
+
+class GPS_Helper
+{
+public:
+	virtual int				configure(unsigned &baud) = 0;
+	virtual int 			receive(unsigned timeout) = 0;
+	int 					set_baudrate(const int &fd, unsigned baud);
+};
+
+#endif /* GPS_HELPER_H */
diff --git a/apps/drivers/gps/mtk.cpp b/apps/drivers/gps/mtk.cpp
new file mode 100644
index 000000000..4762bd503
--- /dev/null
+++ b/apps/drivers/gps/mtk.cpp
@@ -0,0 +1,274 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           Julian Oes <joes@student.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* @file mkt.cpp */
+
+#include <unistd.h>
+#include <stdio.h>
+#include <poll.h>
+#include <math.h>
+#include <string.h>
+#include <assert.h>
+#include <systemlib/err.h>
+#include <drivers/drv_hrt.h>
+
+#include "mtk.h"
+
+
+MTK::MTK(const int &fd, struct vehicle_gps_position_s *gps_position) :
+_fd(fd),
+_gps_position(gps_position),
+_mtk_revision(0)
+{
+	decode_init();
+}
+
+MTK::~MTK()
+{
+}
+
+int
+MTK::configure(unsigned &baudrate)
+{
+	/* set baudrate first */
+	if (GPS_Helper::set_baudrate(_fd, MTK_BAUDRATE) != 0)
+		return -1;
+
+	baudrate = MTK_BAUDRATE;
+
+	/* Write config messages, don't wait for an answer */
+	if (strlen(MTK_OUTPUT_5HZ) != write(_fd, MTK_OUTPUT_5HZ, strlen(MTK_OUTPUT_5HZ))) {
+		warnx("mtk: config write failed");
+		return -1;
+	}
+	usleep(10000);
+
+	if (strlen(MTK_SET_BINARY) != write(_fd, MTK_SET_BINARY, strlen(MTK_SET_BINARY))) {
+		warnx("mtk: config write failed");
+		return -1;
+	}
+	usleep(10000);
+
+	if (strlen(SBAS_ON) != write(_fd, SBAS_ON, strlen(SBAS_ON))) {
+		warnx("mtk: config write failed");
+		return -1;
+	}
+	usleep(10000);
+
+	if (strlen(WAAS_ON) != write(_fd, WAAS_ON, strlen(WAAS_ON))) {
+		warnx("mtk: config write failed");
+		return -1;
+	}
+	usleep(10000);
+
+	if (strlen(MTK_NAVTHRES_OFF) != write(_fd, MTK_NAVTHRES_OFF, strlen(MTK_NAVTHRES_OFF))) {
+		warnx("mtk: config write failed");
+		return -1;
+	}
+
+	return 0;
+}
+
+int
+MTK::receive(unsigned timeout)
+{
+	/* poll descriptor */
+	pollfd fds[1];
+	fds[0].fd = _fd;
+	fds[0].events = POLLIN;
+
+	uint8_t buf[32];
+	gps_mtk_packet_t packet;
+
+	/* timeout additional to poll */
+	uint64_t time_started = hrt_absolute_time();
+
+	int j = 0;
+	ssize_t count = 0;
+
+	while (true) {
+
+		/* first read whatever is left */
+		if (j < count) {
+			/* pass received bytes to the packet decoder */
+			while (j < count) {
+				if (parse_char(buf[j], packet) > 0) {
+					handle_message(packet);
+					return 1;
+				}
+				/* in case we keep trying but only get crap from GPS */
+				if (time_started + timeout*1000 < hrt_absolute_time() ) {
+					return -1;
+				}
+				j++;
+			}
+			/* everything is read */
+			j = count = 0;
+		}
+
+		/* then poll for new data */
+		int ret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), timeout);
+
+		if (ret < 0) {
+			/* something went wrong when polling */
+			return -1;
+
+		} else if (ret == 0) {
+			/* Timeout */
+			return -1;
+
+		} else if (ret > 0) {
+			/* if we have new data from GPS, go handle it */
+			if (fds[0].revents & POLLIN) {
+				/*
+				 * We are here because poll says there is some data, so this
+				 * won't block even on a blocking device.  If more bytes are
+				 * available, we'll go back to poll() again...
+				 */
+				count = ::read(_fd, buf, sizeof(buf));
+			}
+		}
+	}
+}
+
+void
+MTK::decode_init(void)
+{
+	_rx_ck_a = 0;
+	_rx_ck_b = 0;
+	_rx_count = 0;
+	_decode_state = MTK_DECODE_UNINIT;
+}
+int
+MTK::parse_char(uint8_t b, gps_mtk_packet_t &packet)
+{
+	int ret = 0;
+
+	if (_decode_state == MTK_DECODE_UNINIT) {
+
+		if (b == MTK_SYNC1_V16) {
+			_decode_state = MTK_DECODE_GOT_CK_A;
+			_mtk_revision = 16;
+		} else if (b == MTK_SYNC1_V19) {
+			_decode_state = MTK_DECODE_GOT_CK_A;
+			_mtk_revision = 19;
+		}
+
+	} else if (_decode_state == MTK_DECODE_GOT_CK_A) {
+		if (b == MTK_SYNC2) {
+			_decode_state = MTK_DECODE_GOT_CK_B;
+
+		} else {
+			// Second start symbol was wrong, reset state machine
+			decode_init();
+		}
+
+	} else if (_decode_state == MTK_DECODE_GOT_CK_B) {
+		// Add to checksum
+		if (_rx_count < 33)
+			add_byte_to_checksum(b);
+
+		// Fill packet buffer
+		((uint8_t*)(&packet))[_rx_count] = b;
+		_rx_count++;
+
+		/* Packet size minus checksum, XXX ? */
+		if (_rx_count >= sizeof(packet)) {
+			/* Compare checksum */
+			if (_rx_ck_a == packet.ck_a && _rx_ck_b == packet.ck_b) {
+				ret = 1;
+			} else {
+				warnx("MTK Checksum invalid");
+				ret = -1;
+			}
+			// Reset state machine to decode next packet
+			decode_init();
+		}
+	}
+	return ret;
+}
+
+void
+MTK::handle_message(gps_mtk_packet_t &packet)
+{
+	if (_mtk_revision == 16) {
+		_gps_position->lat = packet.latitude * 10; // from degrees*1e6 to degrees*1e7
+		_gps_position->lon = packet.longitude * 10; // from degrees*1e6 to degrees*1e7
+	} else if (_mtk_revision == 19) {
+		_gps_position->lat = packet.latitude; // both degrees*1e7
+		_gps_position->lon = packet.longitude; // both degrees*1e7
+	} else {
+		warnx("mtk: unknown revision");
+		_gps_position->lat = 0;
+		_gps_position->lon = 0;
+	}
+	_gps_position->alt = (int32_t)(packet.msl_altitude * 10); // from cm to mm
+	_gps_position->fix_type = packet.fix_type;
+	_gps_position->eph_m = packet.hdop; // XXX: Check this because eph_m is in m and hdop is without unit
+	_gps_position->epv_m = 0.0; //unknown in mtk custom mode
+	_gps_position->vel_m_s = ((float)packet.ground_speed)*1e-2f; // from cm/s to m/s
+	_gps_position->cog_rad = ((float)packet.heading) * M_DEG_TO_RAD_F * 1e-2f; //from deg *100 to rad
+	_gps_position->satellites_visible = packet.satellites;
+
+	/* convert time and date information to unix timestamp */
+	struct tm timeinfo; //TODO: test this conversion
+	uint32_t timeinfo_conversion_temp;
+
+	timeinfo.tm_mday = packet.date * 1e-4;
+	timeinfo_conversion_temp = packet.date - timeinfo.tm_mday * 1e4;
+	timeinfo.tm_mon = timeinfo_conversion_temp * 1e-2 - 1;
+	timeinfo.tm_year = (timeinfo_conversion_temp - (timeinfo.tm_mon + 1) * 1e2) + 100;
+
+	timeinfo.tm_hour = packet.utc_time * 1e-7;
+	timeinfo_conversion_temp = packet.utc_time - timeinfo.tm_hour * 1e7;
+	timeinfo.tm_min = timeinfo_conversion_temp * 1e-5;
+	timeinfo_conversion_temp -= timeinfo.tm_min * 1e5;
+	timeinfo.tm_sec = timeinfo_conversion_temp * 1e-3;
+	timeinfo_conversion_temp -= timeinfo.tm_sec * 1e3;
+	time_t epoch = mktime(&timeinfo);
+
+	_gps_position->time_gps_usec = epoch * 1e6; //TODO: test this
+	_gps_position->time_gps_usec += timeinfo_conversion_temp * 1e3;
+	_gps_position->timestamp_position = _gps_position->timestamp_time = hrt_absolute_time();
+
+	return;
+}
+
+void
+MTK::add_byte_to_checksum(uint8_t b)
+{
+	_rx_ck_a = _rx_ck_a + b;
+	_rx_ck_b = _rx_ck_b + _rx_ck_a;
+}
diff --git a/apps/drivers/gps/mtk.h b/apps/drivers/gps/mtk.h
new file mode 100644
index 000000000..d4e390b01
--- /dev/null
+++ b/apps/drivers/gps/mtk.h
@@ -0,0 +1,124 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
+ *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           Julian Oes <joes@student.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* @file mtk.h */
+
+#ifndef MTK_H_
+#define MTK_H_
+
+#include "gps_helper.h"
+
+#define MTK_SYNC1_V16 0xd0
+#define MTK_SYNC1_V19 0xd1
+#define MTK_SYNC2 0xdd
+
+#define MTK_OUTPUT_5HZ		"$PMTK220,200*2C\r\n"
+#define MTK_SET_BINARY		"$PGCMD,16,0,0,0,0,0*6A\r\n"
+#define SBAS_ON	        	"$PMTK313,1*2E\r\n"
+#define WAAS_ON				"$PMTK301,2*2E\r\n"
+#define MTK_NAVTHRES_OFF 	"$PMTK397,0*23\r\n"
+
+#define MTK_TIMEOUT_5HZ 400
+#define MTK_BAUDRATE 38400
+
+typedef enum {
+	MTK_DECODE_UNINIT = 0,
+	MTK_DECODE_GOT_CK_A = 1,
+	MTK_DECODE_GOT_CK_B = 2
+} mtk_decode_state_t;
+
+/** the structures of the binary packets */
+#pragma pack(push, 1)
+
+typedef struct {
+	uint8_t payload; ///< Number of payload bytes
+	int32_t latitude;  ///< Latitude in degrees * 10^7
+	int32_t longitude; ///< Longitude in degrees * 10^7
+	uint32_t msl_altitude;  ///< MSL altitude in meters * 10^2
+	uint32_t ground_speed; ///< velocity in m/s
+	int32_t heading; ///< heading in degrees * 10^2
+	uint8_t satellites; ///< number of sattelites used
+	uint8_t fix_type;  ///< fix type: XXX correct for that
+	uint32_t date;
+	uint32_t utc_time;
+	uint16_t hdop; ///< horizontal dilution of position (without unit)
+	uint8_t ck_a;
+	uint8_t ck_b;
+} gps_mtk_packet_t;
+
+#pragma pack(pop)
+
+#define MTK_RECV_BUFFER_SIZE 40
+
+class MTK : public GPS_Helper
+{
+public:
+	MTK(const int &fd, struct vehicle_gps_position_s *gps_position);
+	~MTK();
+	int					receive(unsigned timeout);
+	int					configure(unsigned &baudrate);
+
+private:
+	/**
+	 * Parse the binary MTK packet
+	 */
+	int					parse_char(uint8_t b, gps_mtk_packet_t &packet);
+
+	/**
+	 * Handle the package once it has arrived
+	 */
+	void				handle_message(gps_mtk_packet_t &packet);
+
+	/**
+	 * Reset the parse state machine for a fresh start
+	 */
+	void				decode_init(void);
+
+	/**
+	 * While parsing add every byte (except the sync bytes) to the checksum
+	 */
+	void				add_byte_to_checksum(uint8_t);
+
+	int					_fd;
+	struct vehicle_gps_position_s *_gps_position;
+	mtk_decode_state_t	_decode_state;
+	uint8_t				_mtk_revision;
+	uint8_t				_rx_buffer[MTK_RECV_BUFFER_SIZE];
+	unsigned			_rx_count;
+	uint8_t 			_rx_ck_a;
+	uint8_t				_rx_ck_b;
+};
+
+#endif /* MTK_H_ */
diff --git a/apps/drivers/gps/ubx.cpp b/apps/drivers/gps/ubx.cpp
new file mode 100644
index 000000000..74cbc5aaf
--- /dev/null
+++ b/apps/drivers/gps/ubx.cpp
@@ -0,0 +1,745 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           Julian Oes <joes@student.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* @file U-Blox protocol implementation */
+
+#include <unistd.h>
+#include <stdio.h>
+#include <poll.h>
+#include <math.h>
+#include <string.h>
+#include <assert.h>
+#include <systemlib/err.h>
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_gps_position.h>
+#include <drivers/drv_hrt.h>
+
+#include "ubx.h"
+
+#define UBX_CONFIG_TIMEOUT 100
+
+UBX::UBX(const int &fd, struct vehicle_gps_position_s *gps_position) :
+_fd(fd),
+_gps_position(gps_position),
+_waiting_for_ack(false)
+{
+	decode_init();
+}
+
+UBX::~UBX()
+{
+}
+
+int
+UBX::configure(unsigned &baudrate)
+{
+	_waiting_for_ack = true;
+
+	/* try different baudrates */
+	const unsigned baudrates_to_try[] = {9600, 38400, 19200, 57600, 115200};
+
+	for (int baud_i = 0; baud_i < 5; baud_i++) {
+		baudrate = baudrates_to_try[baud_i];
+		set_baudrate(_fd, baudrate);
+
+		/* Send a CFG-PRT message to set the UBX protocol for in and out
+		 * and leave the baudrate as it is, we just want an ACK-ACK from this
+		 */
+		type_gps_bin_cfg_prt_packet_t cfg_prt_packet;
+		/* Set everything else of the packet to 0, otherwise the module wont accept it */
+		memset(&cfg_prt_packet, 0, sizeof(cfg_prt_packet));
+
+		_clsID_needed = UBX_CLASS_CFG;
+		_msgID_needed = UBX_MESSAGE_CFG_PRT;
+
+		/* Define the package contents, don't change the baudrate */
+		cfg_prt_packet.clsID		= UBX_CLASS_CFG;
+		cfg_prt_packet.msgID		= UBX_MESSAGE_CFG_PRT;
+		cfg_prt_packet.length		= UBX_CFG_PRT_LENGTH;
+		cfg_prt_packet.portID		= UBX_CFG_PRT_PAYLOAD_PORTID;
+		cfg_prt_packet.mode			= UBX_CFG_PRT_PAYLOAD_MODE;
+		cfg_prt_packet.baudRate		= baudrate;
+		cfg_prt_packet.inProtoMask	= UBX_CFG_PRT_PAYLOAD_INPROTOMASK;
+		cfg_prt_packet.outProtoMask	= UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK;
+
+		send_config_packet(_fd, (uint8_t*)&cfg_prt_packet, sizeof(cfg_prt_packet));
+
+		if (receive(UBX_CONFIG_TIMEOUT) < 0) {
+			/* try next baudrate */
+			continue;
+		}
+
+		/* Send a CFG-PRT message again, this time change the baudrate */
+
+		cfg_prt_packet.clsID		= UBX_CLASS_CFG;
+		cfg_prt_packet.msgID		= UBX_MESSAGE_CFG_PRT;
+		cfg_prt_packet.length		= UBX_CFG_PRT_LENGTH;
+		cfg_prt_packet.portID		= UBX_CFG_PRT_PAYLOAD_PORTID;
+		cfg_prt_packet.mode			= UBX_CFG_PRT_PAYLOAD_MODE;
+		cfg_prt_packet.baudRate		= UBX_CFG_PRT_PAYLOAD_BAUDRATE;
+		cfg_prt_packet.inProtoMask	= UBX_CFG_PRT_PAYLOAD_INPROTOMASK;
+		cfg_prt_packet.outProtoMask	= UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK;
+
+		send_config_packet(_fd, (uint8_t*)&cfg_prt_packet, sizeof(cfg_prt_packet));
+		if (UBX_CFG_PRT_PAYLOAD_BAUDRATE != baudrate) {
+			set_baudrate(_fd, UBX_CFG_PRT_PAYLOAD_BAUDRATE);
+			baudrate = UBX_CFG_PRT_PAYLOAD_BAUDRATE;
+		}
+
+		/* no ack is ecpected here, keep going configuring */
+
+		/* send a CFT-RATE message to define update rate */
+		type_gps_bin_cfg_rate_packet_t cfg_rate_packet;
+		memset(&cfg_rate_packet, 0, sizeof(cfg_rate_packet));
+
+		_clsID_needed = UBX_CLASS_CFG;
+		_msgID_needed = UBX_MESSAGE_CFG_RATE;
+
+		cfg_rate_packet.clsID		= UBX_CLASS_CFG;
+		cfg_rate_packet.msgID		= UBX_MESSAGE_CFG_RATE;
+		cfg_rate_packet.length		= UBX_CFG_RATE_LENGTH;
+		cfg_rate_packet.measRate	= UBX_CFG_RATE_PAYLOAD_MEASRATE;
+		cfg_rate_packet.navRate		= UBX_CFG_RATE_PAYLOAD_NAVRATE;
+		cfg_rate_packet.timeRef		= UBX_CFG_RATE_PAYLOAD_TIMEREF;
+
+		send_config_packet(_fd, (uint8_t*)&cfg_rate_packet, sizeof(cfg_rate_packet));
+		if (receive(UBX_CONFIG_TIMEOUT) < 0) {
+			/* try next baudrate */
+			continue;
+		}
+
+		/* send a NAV5 message to set the options for the internal filter */
+		type_gps_bin_cfg_nav5_packet_t cfg_nav5_packet;
+		memset(&cfg_nav5_packet, 0, sizeof(cfg_nav5_packet));
+
+		_clsID_needed = UBX_CLASS_CFG;
+		_msgID_needed = UBX_MESSAGE_CFG_NAV5;
+
+		cfg_nav5_packet.clsID        = UBX_CLASS_CFG;
+		cfg_nav5_packet.msgID        = UBX_MESSAGE_CFG_NAV5;
+		cfg_nav5_packet.length       = UBX_CFG_NAV5_LENGTH;
+		cfg_nav5_packet.mask         = UBX_CFG_NAV5_PAYLOAD_MASK;
+		cfg_nav5_packet.dynModel     = UBX_CFG_NAV5_PAYLOAD_DYNMODEL;
+		cfg_nav5_packet.fixMode      = UBX_CFG_NAV5_PAYLOAD_FIXMODE;
+
+		send_config_packet(_fd, (uint8_t*)&cfg_nav5_packet, sizeof(cfg_nav5_packet));
+		if (receive(UBX_CONFIG_TIMEOUT) < 0) {
+			/* try next baudrate */
+			continue;
+		}
+
+		type_gps_bin_cfg_msg_packet_t cfg_msg_packet;
+		memset(&cfg_msg_packet, 0, sizeof(cfg_msg_packet));
+
+		_clsID_needed = UBX_CLASS_CFG;
+		_msgID_needed = UBX_MESSAGE_CFG_MSG;
+
+		cfg_msg_packet.clsID        = UBX_CLASS_CFG;
+		cfg_msg_packet.msgID        = UBX_MESSAGE_CFG_MSG;
+		cfg_msg_packet.length       = UBX_CFG_MSG_LENGTH;
+		/* Choose fast 5Hz rate for all messages except SVINFO which is big and not important */
+		cfg_msg_packet.rate[1]      = UBX_CFG_MSG_PAYLOAD_RATE1_5HZ;
+
+		cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
+		cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_POSLLH;
+
+		send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet));
+		if (receive(UBX_CONFIG_TIMEOUT) < 0) {
+			/* try next baudrate */
+			continue;
+		}
+
+		cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
+		cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_TIMEUTC;
+
+		send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet));
+		if (receive(UBX_CONFIG_TIMEOUT) < 0) {
+			/* try next baudrate */
+			continue;
+		}
+
+		cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
+		cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SVINFO;
+		/* For satelites info 1Hz is enough */
+		cfg_msg_packet.rate[1] = UBX_CFG_MSG_PAYLOAD_RATE1_1HZ;
+
+		send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet));
+		if (receive(UBX_CONFIG_TIMEOUT) < 0) {
+			/* try next baudrate */
+			continue;
+		}
+
+		cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
+		cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SOL;
+
+		send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet));
+		if (receive(UBX_CONFIG_TIMEOUT) < 0) {
+			/* try next baudrate */
+			continue;
+		}
+
+		cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
+		cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_VELNED;
+
+		send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet));
+		if (receive(UBX_CONFIG_TIMEOUT) < 0) {
+			/* try next baudrate */
+			continue;
+		}
+//		cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
+//		cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_DOP;
+
+//		cfg_msg_packet.msgClass_payload = UBX_CLASS_RXM;
+//		cfg_msg_packet.msgID_payload = UBX_MESSAGE_RXM_SVSI;
+
+		_waiting_for_ack = false;
+		return 0;
+	}
+	return -1;
+}
+
+int
+UBX::receive(unsigned timeout)
+{
+	/* poll descriptor */
+	pollfd fds[1];
+	fds[0].fd = _fd;
+	fds[0].events = POLLIN;
+
+	uint8_t buf[32];
+
+	/* timeout additional to poll */
+	uint64_t time_started = hrt_absolute_time();
+
+	int j = 0;
+	ssize_t count = 0;
+
+	while (true) {
+
+		/* pass received bytes to the packet decoder */
+		while (j < count) {
+			if (parse_char(buf[j]) > 0) {
+				/* return to configure during configuration or to the gps driver during normal work
+				 * if a packet has arrived */
+				 if (handle_message() > 0)
+					return 1;
+			}
+			/* in case we keep trying but only get crap from GPS */
+			if (time_started + timeout*1000 < hrt_absolute_time() ) {
+				return -1;
+			}
+			j++;
+		}
+
+		/* everything is read */
+		j = count = 0;
+
+		/* then poll for new data */
+		int ret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), timeout);
+
+		if (ret < 0) {
+			/* something went wrong when polling */
+			return -1;
+
+		} else if (ret == 0) {
+			/* Timeout */
+			return -1;
+
+		} else if (ret > 0) {
+			/* if we have new data from GPS, go handle it */
+			if (fds[0].revents & POLLIN) {
+				/*
+				 * We are here because poll says there is some data, so this
+				 * won't block even on a blocking device.  If more bytes are
+				 * available, we'll go back to poll() again...
+				 */
+				count = ::read(_fd, buf, sizeof(buf));
+			}
+		}
+	}
+}
+
+int
+UBX::parse_char(uint8_t b)
+{
+	switch (_decode_state) {
+		/* First, look for sync1 */
+		case UBX_DECODE_UNINIT:
+			if (b == UBX_SYNC1) {
+				_decode_state = UBX_DECODE_GOT_SYNC1;
+			}
+			break;
+		/* Second, look for sync2 */
+		case UBX_DECODE_GOT_SYNC1:
+			if (b == UBX_SYNC2) {
+				_decode_state = UBX_DECODE_GOT_SYNC2;
+			} else {
+				/* Second start symbol was wrong, reset state machine */
+				decode_init();
+			}
+			break;
+		/* Now look for class */
+		case UBX_DECODE_GOT_SYNC2:
+			/* everything except sync1 and sync2 needs to be added to the checksum */
+			add_byte_to_checksum(b);
+			/* check for known class */
+			switch (b) {
+				case UBX_CLASS_ACK:
+					_decode_state = UBX_DECODE_GOT_CLASS;
+					_message_class = ACK;
+					break;
+
+				case UBX_CLASS_NAV:
+					_decode_state = UBX_DECODE_GOT_CLASS;
+					_message_class = NAV;
+					break;
+
+//				case UBX_CLASS_RXM:
+//					_decode_state = UBX_DECODE_GOT_CLASS;
+//					_message_class = RXM;
+//					break;
+
+				case UBX_CLASS_CFG:
+					_decode_state = UBX_DECODE_GOT_CLASS;
+					_message_class = CFG;
+					break;
+				default: //unknown class: reset state machine
+					decode_init();
+					break;
+			}
+			break;
+		case UBX_DECODE_GOT_CLASS:
+			add_byte_to_checksum(b);
+			switch (_message_class) {
+				case NAV:
+					switch (b) {
+					case UBX_MESSAGE_NAV_POSLLH:
+						_decode_state = UBX_DECODE_GOT_MESSAGEID;
+						_message_id = NAV_POSLLH;
+						break;
+
+					case UBX_MESSAGE_NAV_SOL:
+						_decode_state = UBX_DECODE_GOT_MESSAGEID;
+						_message_id = NAV_SOL;
+						break;
+
+					case UBX_MESSAGE_NAV_TIMEUTC:
+						_decode_state = UBX_DECODE_GOT_MESSAGEID;
+						_message_id = NAV_TIMEUTC;
+						break;
+
+//					case UBX_MESSAGE_NAV_DOP:
+//						_decode_state = UBX_DECODE_GOT_MESSAGEID;
+//						_message_id = NAV_DOP;
+//						break;
+
+					case UBX_MESSAGE_NAV_SVINFO:
+						_decode_state = UBX_DECODE_GOT_MESSAGEID;
+						_message_id = NAV_SVINFO;
+						break;
+
+					case UBX_MESSAGE_NAV_VELNED:
+						_decode_state = UBX_DECODE_GOT_MESSAGEID;
+						_message_id = NAV_VELNED;
+						break;
+
+					default: //unknown class: reset state machine, should not happen
+						decode_init();
+						break;
+					}
+					break;
+//				case RXM:
+//					switch (b) {
+//					case UBX_MESSAGE_RXM_SVSI:
+//						_decode_state = UBX_DECODE_GOT_MESSAGEID;
+//						_message_id = RXM_SVSI;
+//						break;
+//
+//					default: //unknown class: reset state machine, should not happen
+//						decode_init();
+//						break;
+//					}
+//					break;
+
+				case CFG:
+					switch (b) {
+					case UBX_MESSAGE_CFG_NAV5:
+						_decode_state = UBX_DECODE_GOT_MESSAGEID;
+						_message_id = CFG_NAV5;
+						break;
+
+					default: //unknown class: reset state machine, should not happen
+						decode_init();
+						break;
+					}
+					break;
+
+				case ACK:
+					switch (b) {
+					case UBX_MESSAGE_ACK_ACK:
+						_decode_state = UBX_DECODE_GOT_MESSAGEID;
+						_message_id = ACK_ACK;
+						break;
+					case UBX_MESSAGE_ACK_NAK:
+						_decode_state = UBX_DECODE_GOT_MESSAGEID;
+						_message_id = ACK_NAK;
+						break;
+					default: //unknown class: reset state machine, should not happen
+						decode_init();
+						break;
+					}
+					break;
+				default: //should not happen because we set the class
+					warnx("UBX Error, we set a class that we don't know");
+					decode_init();
+//					config_needed = true;
+					break;
+				}
+				break;
+			case UBX_DECODE_GOT_MESSAGEID:
+				add_byte_to_checksum(b);
+				_payload_size = b; //this is the first length byte
+				_decode_state = UBX_DECODE_GOT_LENGTH1;
+				break;
+			case UBX_DECODE_GOT_LENGTH1:
+				add_byte_to_checksum(b);
+				_payload_size += b << 8; // here comes the second byte of length
+				_decode_state = UBX_DECODE_GOT_LENGTH2;
+				break;
+			case UBX_DECODE_GOT_LENGTH2:
+				/* Add to checksum if not yet at checksum byte */
+				if (_rx_count < _payload_size)
+					add_byte_to_checksum(b);
+					_rx_buffer[_rx_count] = b;
+					/* once the payload has arrived, we can process the information */
+					if (_rx_count >= _payload_size + 1) { //+1 because of 2 checksum bytes
+
+						/* compare checksum */
+						if (_rx_ck_a == _rx_buffer[_rx_count-1] && _rx_ck_b == _rx_buffer[_rx_count]) {
+							return 1;
+						} else {
+							decode_init();
+							return -1;
+							warnx("ubx: Checksum wrong");
+						}
+
+						return 1;
+					} else if (_rx_count < RECV_BUFFER_SIZE) {
+						_rx_count++;
+					} else {
+						warnx("ubx: buffer full");
+						decode_init();
+						return -1;
+					}
+				break;
+		default:
+			break;
+	}
+	return 0; //XXX ?
+}
+
+
+int
+UBX::handle_message()
+{
+	int ret = 0;
+
+	switch (_message_id) { //this enum is unique for all ids --> no need to check the class
+		case NAV_POSLLH: {
+//			printf("GOT NAV_POSLLH MESSAGE\n");
+			if (!_waiting_for_ack) {
+				gps_bin_nav_posllh_packet_t *packet = (gps_bin_nav_posllh_packet_t *) _rx_buffer;
+
+				_gps_position->lat = packet->lat;
+				_gps_position->lon = packet->lon;
+				_gps_position->alt = packet->height_msl;
+
+				_gps_position->eph_m = (float)packet->hAcc * 1e-3f; // from mm to m
+				_gps_position->epv_m = (float)packet->vAcc * 1e-3f; // from mm to m
+
+				/* Add timestamp to finish the report */
+				_gps_position->timestamp_position = hrt_absolute_time();
+				/* only return 1 when new position is available */
+				ret = 1;
+			}
+			break;
+		}
+
+		case NAV_SOL: {
+//			printf("GOT NAV_SOL MESSAGE\n");
+			if (!_waiting_for_ack) {
+				gps_bin_nav_sol_packet_t *packet = (gps_bin_nav_sol_packet_t *) _rx_buffer;
+
+				_gps_position->fix_type = packet->gpsFix;
+				_gps_position->s_variance_m_s = packet->sAcc;
+				_gps_position->p_variance_m = packet->pAcc;
+
+				_gps_position->timestamp_variance = hrt_absolute_time();
+			}
+			break;
+		}
+
+//		case NAV_DOP: {
+////		printf("GOT NAV_DOP MESSAGE\n");
+//			gps_bin_nav_dop_packet_t *packet = (gps_bin_nav_dop_packet_t *) _rx_buffer;
+//
+//			_gps_position->eph_m =  packet->hDOP;
+//			_gps_position->epv =  packet->vDOP;
+//
+//			_gps_position->timestamp_posdilution = hrt_absolute_time();
+//
+//			_new_nav_dop = true;
+//
+//			break;
+//		}
+
+		case NAV_TIMEUTC: {
+//			printf("GOT NAV_TIMEUTC MESSAGE\n");
+
+			if (!_waiting_for_ack) {
+				gps_bin_nav_timeutc_packet_t *packet = (gps_bin_nav_timeutc_packet_t *) _rx_buffer;
+
+				//convert to unix timestamp
+				struct tm timeinfo;
+				timeinfo.tm_year = packet->year - 1900;
+				timeinfo.tm_mon = packet->month - 1;
+				timeinfo.tm_mday = packet->day;
+				timeinfo.tm_hour = packet->hour;
+				timeinfo.tm_min = packet->min;
+				timeinfo.tm_sec = packet->sec;
+
+				time_t epoch = mktime(&timeinfo);
+
+				_gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this
+				_gps_position->time_gps_usec += (uint64_t)(packet->time_nanoseconds * 1e-3f);
+
+				_gps_position->timestamp_time = hrt_absolute_time();
+			}
+			break;
+		}
+
+		case NAV_SVINFO: {
+//			printf("GOT NAV_SVINFO MESSAGE\n");
+
+			if (!_waiting_for_ack) {
+				//this is a more complicated message: the length depends on the number of satellites. This number is extracted from the first part of the message
+				const int length_part1 = 8;
+				char _rx_buffer_part1[length_part1];
+				memcpy(_rx_buffer_part1, _rx_buffer, length_part1);
+				gps_bin_nav_svinfo_part1_packet_t *packet_part1 = (gps_bin_nav_svinfo_part1_packet_t *) _rx_buffer_part1;
+
+				//read checksum
+				const int length_part3 = 2;
+				char _rx_buffer_part3[length_part3];
+				memcpy(_rx_buffer_part3, &(_rx_buffer[_rx_count - 1]), length_part3);
+
+				//definitions needed to read numCh elements from the buffer:
+				const int length_part2 = 12;
+				gps_bin_nav_svinfo_part2_packet_t *packet_part2;
+				char _rx_buffer_part2[length_part2]; //for temporal storage
+
+				uint8_t satellites_used = 0;
+				int i;
+
+				for (i = 0; i < packet_part1->numCh; i++) { //for each channel
+
+					/* Get satellite information from the buffer */
+					memcpy(_rx_buffer_part2, &(_rx_buffer[length_part1 + i * length_part2]), length_part2);
+					packet_part2 = (gps_bin_nav_svinfo_part2_packet_t *) _rx_buffer_part2;
+
+
+					/* Write satellite information in the global storage */
+					_gps_position->satellite_prn[i] = packet_part2->svid;
+
+					//if satellite information is healthy store the data
+					uint8_t unhealthy = packet_part2->flags & 1 << 4; //flags is a bitfield
+
+					if (!unhealthy) {
+						if ((packet_part2->flags) & 1) { //flags is a bitfield
+							_gps_position->satellite_used[i] = 1;
+							satellites_used++;
+
+						} else {
+							_gps_position->satellite_used[i] = 0;
+						}
+
+						_gps_position->satellite_snr[i] = packet_part2->cno;
+						_gps_position->satellite_elevation[i] = (uint8_t)(packet_part2->elev);
+						_gps_position->satellite_azimuth[i] = (uint8_t)((float)packet_part2->azim * 255.0f / 360.0f);
+
+					} else {
+						_gps_position->satellite_used[i] = 0;
+						_gps_position->satellite_snr[i] = 0;
+						_gps_position->satellite_elevation[i] = 0;
+						_gps_position->satellite_azimuth[i] = 0;
+					}
+
+				}
+
+				for (i = packet_part1->numCh; i < 20; i++) { //these channels are unused
+					/* Unused channels have to be set to zero for e.g. MAVLink */
+					_gps_position->satellite_prn[i] = 0;
+					_gps_position->satellite_used[i] = 0;
+					_gps_position->satellite_snr[i] = 0;
+					_gps_position->satellite_elevation[i] = 0;
+					_gps_position->satellite_azimuth[i] = 0;
+				}
+				_gps_position->satellites_visible = satellites_used; // visible ~= used but we are interested in the used ones
+
+				/* set timestamp if any sat info is available */
+				if (packet_part1->numCh > 0) {
+					_gps_position->satellite_info_available = true;
+				} else {
+					_gps_position->satellite_info_available = false;
+				}
+				_gps_position->timestamp_satellites = hrt_absolute_time();
+			}
+
+			break;
+		}
+
+		case NAV_VELNED: {
+//			printf("GOT NAV_VELNED MESSAGE\n");
+
+			if (!_waiting_for_ack) {
+				gps_bin_nav_velned_packet_t *packet = (gps_bin_nav_velned_packet_t *) _rx_buffer;
+
+				_gps_position->vel_m_s   = (float)packet->speed * 1e-2f;
+				_gps_position->vel_n_m_s = (float)packet->velN * 1e-2f;
+				_gps_position->vel_e_m_s = (float)packet->velE * 1e-2f;
+				_gps_position->vel_d_m_s = (float)packet->velD * 1e-2f;
+				_gps_position->cog_rad   = (float)packet->heading * M_DEG_TO_RAD_F * 1e-5f;
+				_gps_position->vel_ned_valid = true;
+				_gps_position->timestamp_velocity = hrt_absolute_time();
+			}
+
+			break;
+		}
+
+//		case RXM_SVSI: {
+//				printf("GOT RXM_SVSI MESSAGE\n");
+//				const int length_part1 = 7;
+//				char _rx_buffer_part1[length_part1];
+//				memcpy(_rx_buffer_part1, _rx_buffer, length_part1);
+//				gps_bin_rxm_svsi_packet_t *packet = (gps_bin_rxm_svsi_packet_t *) _rx_buffer_part1;
+//
+//				_gps_position->satellites_visible = packet->numVis;
+//				_gps_position->counter++;
+//				_last_message_timestamps[RXM_SVSI - 1] = hrt_absolute_time();
+//
+//			break;
+//		}
+		case ACK_ACK: {
+//			printf("GOT ACK_ACK\n");
+			gps_bin_ack_ack_packet_t *packet = (gps_bin_ack_ack_packet_t *) _rx_buffer;
+
+			if (_waiting_for_ack) {
+				if (packet->clsID == _clsID_needed && packet->msgID == _msgID_needed) {
+					ret = 1;
+				}
+			}
+		}
+		break;
+
+		case ACK_NAK: {
+//			printf("GOT ACK_NAK\n");
+			warnx("UBX: Received: Not Acknowledged");
+			/* configuration obviously not successful */
+			ret = -1;
+			break;
+		}
+
+		default: //we don't know the message
+			warnx("UBX: Unknown message received: %d-%d\n",_message_class,_message_id);
+			ret = -1;
+			break;
+		}
+	// end if _rx_count high enough
+	decode_init();
+	return ret; //XXX?
+}
+
+void
+UBX::decode_init(void)
+{
+	_rx_ck_a = 0;
+	_rx_ck_b = 0;
+	_rx_count = 0;
+	_decode_state = UBX_DECODE_UNINIT;
+	_message_class = CLASS_UNKNOWN;
+	_message_id = ID_UNKNOWN;
+	_payload_size = 0;
+}
+
+void
+UBX::add_byte_to_checksum(uint8_t b)
+{
+	_rx_ck_a = _rx_ck_a + b;
+	_rx_ck_b = _rx_ck_b + _rx_ck_a;
+}
+
+void
+UBX::add_checksum_to_message(uint8_t* message, const unsigned length)
+{
+	uint8_t ck_a = 0;
+	uint8_t ck_b = 0;
+	unsigned i;
+
+	for (i = 0; i < length-2; i++) {
+		ck_a = ck_a + message[i];
+		ck_b = ck_b + ck_a;
+	}
+	/* The checksum is written to the last to bytes of a message */
+	message[length-2] = ck_a;
+	message[length-1] = ck_b;
+}
+
+void
+UBX::send_config_packet(const int &fd, uint8_t *packet, const unsigned length)
+{
+	ssize_t ret = 0;
+
+	/* Calculate the checksum now */
+	add_checksum_to_message(packet, length);
+
+	const uint8_t sync_bytes[] = {UBX_SYNC1, UBX_SYNC2};
+
+	/* Start with the two sync bytes */
+	ret += write(fd, sync_bytes, sizeof(sync_bytes));
+	ret += write(fd, packet, length);
+
+	if (ret != (int)length + (int)sizeof(sync_bytes)) // XXX is there a neater way to get rid of the unsigned signed warning?
+		warnx("ubx: config write fail");
+}
diff --git a/apps/drivers/gps/ubx.h b/apps/drivers/gps/ubx.h
new file mode 100644
index 000000000..e3dd1c7ea
--- /dev/null
+++ b/apps/drivers/gps/ubx.h
@@ -0,0 +1,395 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
+ *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           Julian Oes <joes@student.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* @file U-Blox protocol definitions */
+
+#ifndef UBX_H_
+#define UBX_H_
+
+#include "gps_helper.h"
+
+#define UBX_SYNC1 0xB5
+#define UBX_SYNC2 0x62
+
+/* ClassIDs (the ones that are used) */
+#define UBX_CLASS_NAV 0x01
+//#define UBX_CLASS_RXM 0x02
+#define UBX_CLASS_ACK 0x05
+#define UBX_CLASS_CFG 0x06
+
+/* MessageIDs (the ones that are used) */
+#define UBX_MESSAGE_NAV_POSLLH 0x02
+#define UBX_MESSAGE_NAV_SOL 0x06
+#define UBX_MESSAGE_NAV_TIMEUTC 0x21
+//#define UBX_MESSAGE_NAV_DOP 0x04
+#define UBX_MESSAGE_NAV_SVINFO 0x30
+#define UBX_MESSAGE_NAV_VELNED 0x12
+//#define UBX_MESSAGE_RXM_SVSI 0x20
+#define UBX_MESSAGE_ACK_ACK 0x01
+#define UBX_MESSAGE_ACK_NAK 0x00
+#define UBX_MESSAGE_CFG_PRT 0x00
+#define UBX_MESSAGE_CFG_NAV5 0x24
+#define UBX_MESSAGE_CFG_MSG 0x01
+#define UBX_MESSAGE_CFG_RATE 0x08
+
+#define UBX_CFG_PRT_LENGTH 20
+#define UBX_CFG_PRT_PAYLOAD_PORTID 0x01         /**< UART1 */
+#define UBX_CFG_PRT_PAYLOAD_MODE 0x000008D0     /**< 0b0000100011010000: 8N1 */
+#define UBX_CFG_PRT_PAYLOAD_BAUDRATE 38400      /**< always choose 38400 as GPS baudrate */
+#define UBX_CFG_PRT_PAYLOAD_INPROTOMASK 0x01    /**< UBX in */
+#define UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK 0x01   /**< UBX out */
+
+#define UBX_CFG_RATE_LENGTH 6
+#define UBX_CFG_RATE_PAYLOAD_MEASRATE 200		/**< 200ms for 5Hz */
+#define UBX_CFG_RATE_PAYLOAD_NAVRATE 1			/**< cannot be changed */
+#define UBX_CFG_RATE_PAYLOAD_TIMEREF 0			/**< 0: UTC, 1: GPS time */
+
+
+#define UBX_CFG_NAV5_LENGTH 36
+#define UBX_CFG_NAV5_PAYLOAD_MASK 0x0001		/**< only update dynamic model and fix mode */
+#define UBX_CFG_NAV5_PAYLOAD_DYNMODEL 7			/**< 0: portable, 2: stationary, 3: pedestrian, 4: automotive, 5: sea, 6: airborne <1g, 7: airborne <2g, 8: airborne <4g */
+#define UBX_CFG_NAV5_PAYLOAD_FIXMODE 2          /**< 1: 2D only, 2: 3D only, 3: Auto 2D/3D */
+
+#define UBX_CFG_MSG_LENGTH 8
+#define UBX_CFG_MSG_PAYLOAD_RATE1_5HZ 0x01 		/**< {0x00, 0x01, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */
+#define UBX_CFG_MSG_PAYLOAD_RATE1_1HZ 0x05		/**< {0x00, 0x05, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */
+
+#define UBX_MAX_PAYLOAD_LENGTH 500
+
+// ************
+/** the structures of the binary packets */
+#pragma pack(push, 1)
+
+typedef struct {
+	uint32_t time_milliseconds;		/**<  GPS Millisecond Time of Week */
+	int32_t lon;					/**<  Longitude * 1e-7, deg */
+	int32_t lat;					/**<  Latitude * 1e-7, deg */
+	int32_t height;					/**<  Height above Ellipsoid, mm */
+	int32_t height_msl;				/**<  Height above mean sea level, mm */
+	uint32_t hAcc;  				/**< Horizontal Accuracy Estimate, mm */
+	uint32_t vAcc;  				/**< Vertical Accuracy Estimate, mm */
+	uint8_t ck_a;
+	uint8_t ck_b;
+} gps_bin_nav_posllh_packet_t;
+
+typedef struct {
+	uint32_t time_milliseconds; 	/**< GPS Millisecond Time of Week */
+	int32_t time_nanoseconds;		/**< Fractional Nanoseconds remainder of rounded ms above, range -500000 .. 500000 */
+	int16_t week;					/**< GPS week (GPS time) */
+	uint8_t gpsFix;					/**< GPS Fix: 0 = No fix, 1 = Dead Reckoning only, 2 = 2D fix, 3 = 3d-fix, 4 = GPS + dead reckoning, 5 = time only fix */
+	uint8_t flags;
+	int32_t ecefX;
+	int32_t ecefY;
+	int32_t ecefZ;
+	uint32_t pAcc;
+	int32_t ecefVX;
+	int32_t ecefVY;
+	int32_t ecefVZ;
+	uint32_t sAcc;
+	uint16_t pDOP;
+	uint8_t reserved1;
+	uint8_t numSV;
+	uint32_t reserved2;
+	uint8_t ck_a;
+	uint8_t ck_b;
+} gps_bin_nav_sol_packet_t;
+
+typedef struct {
+	uint32_t time_milliseconds;		/**< GPS Millisecond Time of Week */
+	uint32_t time_accuracy; 		/**< Time Accuracy Estimate, ns */
+	int32_t time_nanoseconds; 		/**< Nanoseconds of second, range -1e9 .. 1e9 (UTC) */
+	uint16_t year; 					/**< Year, range 1999..2099 (UTC) */
+	uint8_t month; 					/**< Month, range 1..12 (UTC) */
+	uint8_t day; 					/**< Day of Month, range 1..31 (UTC) */
+	uint8_t hour; 					/**< Hour of Day, range 0..23 (UTC) */
+	uint8_t min; 					/**< Minute of Hour, range 0..59 (UTC) */
+	uint8_t sec; 					/**< Seconds of Minute, range 0..59 (UTC) */
+	uint8_t valid_flag; 			/**< Validity Flags (see ubx documentation) */
+	uint8_t ck_a;
+	uint8_t ck_b;
+} gps_bin_nav_timeutc_packet_t;
+
+//typedef struct {
+//	uint32_t time_milliseconds; 	/**<  GPS Millisecond Time of Week */
+//	uint16_t gDOP; 					/**< Geometric DOP (scaling 0.01) */
+//	uint16_t pDOP; 					/**< Position DOP (scaling 0.01) */
+//	uint16_t tDOP; 					/**< Time DOP (scaling 0.01) */
+//	uint16_t vDOP; 					/**< Vertical DOP (scaling 0.01) */
+//	uint16_t hDOP; 					/**< Horizontal DOP (scaling 0.01) */
+//	uint16_t nDOP; 					/**< Northing DOP (scaling 0.01) */
+//	uint16_t eDOP; 					/**< Easting DOP (scaling 0.01) */
+//	uint8_t ck_a;
+//	uint8_t ck_b;
+//} gps_bin_nav_dop_packet_t;
+
+typedef struct {
+	uint32_t time_milliseconds; 	/**<  GPS Millisecond Time of Week */
+	uint8_t numCh; 					/**< Number of channels */
+	uint8_t globalFlags;
+	uint16_t reserved2;
+
+} gps_bin_nav_svinfo_part1_packet_t;
+
+typedef struct {
+	uint8_t chn; 					/**< Channel number, 255 for SVs not assigned to a channel */
+	uint8_t svid; 					/**< Satellite ID */
+	uint8_t flags;
+	uint8_t quality;
+	uint8_t cno; 					/**< Carrier to Noise Ratio (Signal Strength), dbHz */
+	int8_t elev; 					/**< Elevation in integer degrees */
+	int16_t azim; 					/**< Azimuth in integer degrees */
+	int32_t prRes; 					/**< Pseudo range residual in centimetres */
+
+} gps_bin_nav_svinfo_part2_packet_t;
+
+typedef struct {
+	uint8_t ck_a;
+	uint8_t ck_b;
+} gps_bin_nav_svinfo_part3_packet_t;
+
+typedef struct {
+	uint32_t time_milliseconds; // GPS Millisecond Time of Week
+	int32_t velN; //NED north velocity, cm/s
+	int32_t velE; //NED east velocity, cm/s
+	int32_t velD; //NED down velocity, cm/s
+	uint32_t speed; //Speed (3-D), cm/s
+	uint32_t gSpeed; //Ground Speed (2-D), cm/s
+	int32_t heading; //Heading of motion 2-D, deg, scaling: 1e-5
+	uint32_t sAcc; //Speed Accuracy Estimate, cm/s
+	uint32_t cAcc; //Course / Heading Accuracy Estimate, scaling: 1e-5
+	uint8_t ck_a;
+	uint8_t ck_b;
+} gps_bin_nav_velned_packet_t;
+
+//typedef struct {
+//	int32_t time_milliseconds; 		/**< Measurement integer millisecond GPS time of week */
+//	int16_t week; 					/**< Measurement GPS week number */
+//	uint8_t numVis;					/**< Number of visible satellites */
+//
+//	//... rest of package is not used in this implementation
+//
+//} gps_bin_rxm_svsi_packet_t;
+
+typedef struct {
+	uint8_t clsID;
+	uint8_t msgID;
+	uint8_t ck_a;
+	uint8_t ck_b;
+} gps_bin_ack_ack_packet_t;
+
+typedef struct {
+	uint8_t clsID;
+	uint8_t msgID;
+	uint8_t ck_a;
+	uint8_t ck_b;
+} gps_bin_ack_nak_packet_t;
+
+typedef struct {
+	uint8_t clsID;
+	uint8_t msgID;
+	uint16_t length;
+	uint8_t portID;
+	uint8_t res0;
+	uint16_t res1;
+	uint32_t mode;
+	uint32_t baudRate;
+	uint16_t inProtoMask;
+	uint16_t outProtoMask;
+	uint16_t flags;
+	uint16_t pad;
+	uint8_t ck_a;
+	uint8_t ck_b;
+} type_gps_bin_cfg_prt_packet_t;
+
+typedef struct {
+	uint8_t clsID;
+	uint8_t msgID;
+	uint16_t length;
+	uint16_t measRate;
+	uint16_t navRate;
+	uint16_t timeRef;
+	uint8_t ck_a;
+	uint8_t ck_b;
+} type_gps_bin_cfg_rate_packet_t;
+
+typedef struct {
+	uint8_t clsID;
+	uint8_t msgID;
+	uint16_t length;
+	uint16_t mask;
+	uint8_t dynModel;
+	uint8_t fixMode;
+	int32_t fixedAlt;
+	uint32_t fixedAltVar;
+	int8_t minElev;
+	uint8_t drLimit;
+	uint16_t pDop;
+	uint16_t tDop;
+	uint16_t pAcc;
+	uint16_t tAcc;
+	uint8_t staticHoldThresh;
+	uint8_t dgpsTimeOut;
+	uint32_t reserved2;
+	uint32_t reserved3;
+	uint32_t reserved4;
+	uint8_t ck_a;
+	uint8_t ck_b;
+} type_gps_bin_cfg_nav5_packet_t;
+
+typedef struct {
+	uint8_t clsID;
+	uint8_t msgID;
+	uint16_t length;
+	uint8_t msgClass_payload;
+	uint8_t msgID_payload;
+	uint8_t rate[6];
+	uint8_t ck_a;
+	uint8_t ck_b;
+} type_gps_bin_cfg_msg_packet_t;
+
+
+// END the structures of the binary packets
+// ************
+
+typedef enum {
+	UBX_CONFIG_STATE_PRT = 0,
+	UBX_CONFIG_STATE_PRT_NEW_BAUDRATE,
+	UBX_CONFIG_STATE_RATE,
+	UBX_CONFIG_STATE_NAV5,
+	UBX_CONFIG_STATE_MSG_NAV_POSLLH,
+	UBX_CONFIG_STATE_MSG_NAV_TIMEUTC,
+	UBX_CONFIG_STATE_MSG_NAV_DOP,
+	UBX_CONFIG_STATE_MSG_NAV_SVINFO,
+	UBX_CONFIG_STATE_MSG_NAV_SOL,
+	UBX_CONFIG_STATE_MSG_NAV_VELNED,
+//	UBX_CONFIG_STATE_MSG_RXM_SVSI,
+	UBX_CONFIG_STATE_CONFIGURED
+} ubx_config_state_t;
+
+typedef enum {
+	CLASS_UNKNOWN = 0,
+	NAV = 1,
+	RXM = 2,
+	ACK = 3,
+	CFG = 4
+} ubx_message_class_t;
+
+typedef enum {
+	//these numbers do NOT correspond to the message id numbers of the ubx protocol
+	ID_UNKNOWN = 0,
+	NAV_POSLLH,
+	NAV_SOL,
+	NAV_TIMEUTC,
+//	NAV_DOP,
+	NAV_SVINFO,
+	NAV_VELNED,
+//	RXM_SVSI,
+	CFG_NAV5,
+	ACK_ACK,
+	ACK_NAK,
+} ubx_message_id_t;
+
+typedef enum {
+	UBX_DECODE_UNINIT = 0,
+	UBX_DECODE_GOT_SYNC1,
+	UBX_DECODE_GOT_SYNC2,
+	UBX_DECODE_GOT_CLASS,
+	UBX_DECODE_GOT_MESSAGEID,
+	UBX_DECODE_GOT_LENGTH1,
+	UBX_DECODE_GOT_LENGTH2
+} ubx_decode_state_t;
+
+//typedef type_gps_bin_ubx_state gps_bin_ubx_state_t;
+#pragma pack(pop)
+
+#define RECV_BUFFER_SIZE 500 //The NAV-SOL messages really need such a big buffer
+
+class UBX : public GPS_Helper
+{
+public:
+	UBX(const int &fd, struct vehicle_gps_position_s *gps_position);
+	~UBX();
+	int					receive(unsigned timeout);
+	int					configure(unsigned &baudrate);
+
+private:
+
+	/**
+	 * Parse the binary MTK packet
+	 */
+	int					parse_char(uint8_t b);
+
+	/**
+	 * Handle the package once it has arrived
+	 */
+	int					handle_message(void);
+
+	/**
+	 * Reset the parse state machine for a fresh start
+	 */
+	void				decode_init(void);
+
+	/**
+	 * While parsing add every byte (except the sync bytes) to the checksum
+	 */
+	void				add_byte_to_checksum(uint8_t);
+
+	/**
+	 * Add the two checksum bytes to an outgoing message
+	 */
+	void				add_checksum_to_message(uint8_t* message, const unsigned length);
+
+	/**
+	 * Helper to send a config packet
+	 */
+	void				send_config_packet(const int &fd, uint8_t *packet, const unsigned length);
+
+	int 				_fd;
+	struct vehicle_gps_position_s *_gps_position;
+	ubx_config_state_t	_config_state;
+	bool 				_waiting_for_ack;
+	uint8_t				_clsID_needed;
+	uint8_t				_msgID_needed;
+	ubx_decode_state_t	_decode_state;
+	uint8_t				_rx_buffer[RECV_BUFFER_SIZE];
+	unsigned			_rx_count;
+	uint8_t 			_rx_ck_a;
+	uint8_t				_rx_ck_b;
+	ubx_message_class_t _message_class;
+	ubx_message_id_t	_message_id;
+	unsigned			_payload_size;
+};
+
+#endif /* UBX_H_ */
diff --git a/apps/examples/README.txt b/apps/examples/README.txt
index 5996cbb70..03d43f1a0 100644
--- a/apps/examples/README.txt
+++ b/apps/examples/README.txt
@@ -675,8 +675,8 @@ examples/mount
       when CONFIG_EXAMPLES_MOUNT_DEVNAME is not defined.  The
       default is zero (meaning that "/dev/ram0" will be used).
 
-examples/netttest
-^^^^^^^^^^^^^^^^^
+examples/nettest
+^^^^^^^^^^^^^^^^
 
   This is a simple network test for verifying client- and server-
   functionality in a TCP/IP connection.
diff --git a/apps/examples/adc/adc.h b/apps/examples/adc/adc.h
index 9f79db92a..2d8af87e1 100644
--- a/apps/examples/adc/adc.h
+++ b/apps/examples/adc/adc.h
@@ -74,7 +74,7 @@
 
 #ifdef CONFIG_CPP_HAVE_VARARGS
 #  ifdef CONFIG_DEBUG
-#    define message(...) lib_rawprintf(__VA_ARGS__)
+#    define message(...) syslog(__VA_ARGS__)
 #    define msgflush()
 #  else
 #    define message(...) printf(__VA_ARGS__)
@@ -82,7 +82,7 @@
 #  endif
 #else
 #  ifdef CONFIG_DEBUG
-#    define message lib_rawprintf
+#    define message syslog
 #    define msgflush()
 #  else
 #    define message printf
diff --git a/apps/examples/buttons/buttons_main.c b/apps/examples/buttons/buttons_main.c
index 5f25c1ef1..655080def 100644
--- a/apps/examples/buttons/buttons_main.c
+++ b/apps/examples/buttons/buttons_main.c
@@ -299,11 +299,11 @@ static void show_buttons(uint8_t oldset, uint8_t newset)
               state = "released";            
             }
 
-          /* Use lib_lowprintf() because we make be executing from an
+          /* Use lowsyslog() because we make be executing from an
            * interrupt handler.
            */
 
-          lib_lowprintf("  %s %s\n", g_buttoninfo[BUTTON_INDEX(i)].name, state);
+          lowsyslog("  %s %s\n", g_buttoninfo[BUTTON_INDEX(i)].name, state);
         }
     }
 }
@@ -313,8 +313,8 @@ static void button_handler(int id, int irq)
 {
   uint8_t newset = up_buttons();
 
-  lib_lowprintf("IRQ:%d Button %d:%s SET:%02x:\n",
-                irq, id, g_buttoninfo[BUTTON_INDEX(id)].name, newset);
+  lowsyslog("IRQ:%d Button %d:%s SET:%02x:\n",
+            irq, id, g_buttoninfo[BUTTON_INDEX(id)].name, newset);
   show_buttons(g_oldset, newset);
   g_oldset = newset;
 }
@@ -409,7 +409,7 @@ int buttons_main(int argc, char *argv[])
     {
       maxbuttons = strtol(argv[1], NULL, 10);
     }
-  lib_lowprintf("maxbuttons: %d\n", maxbuttons);
+  lowsyslog("maxbuttons: %d\n", maxbuttons);
 #endif
 
   /* Initialize the button GPIOs */
@@ -423,11 +423,11 @@ int buttons_main(int argc, char *argv[])
     {
       xcpt_t oldhandler = up_irqbutton(i, g_buttoninfo[BUTTON_INDEX(i)].handler);
 
-      /* Use lib_lowprintf() for compatibility with interrrupt handler output. */
+      /* Use lowsyslog() for compatibility with interrrupt handler output. */
 
-      lib_lowprintf("Attached handler at %p to button %d [%s], oldhandler:%p\n",
-                    g_buttoninfo[BUTTON_INDEX(i)].handler, i,
-                    g_buttoninfo[BUTTON_INDEX(i)].name, oldhandler);
+      lowsyslog("Attached handler at %p to button %d [%s], oldhandler:%p\n",
+                g_buttoninfo[BUTTON_INDEX(i)].handler, i,
+                g_buttoninfo[BUTTON_INDEX(i)].name, oldhandler);
 
       /* Some hardware multiplexes different GPIO button sources to the same
        * physical interrupt.  If we register multiple such multiplexed button
@@ -438,9 +438,9 @@ int buttons_main(int argc, char *argv[])
 
       if (oldhandler != NULL)
         {
-          lib_lowprintf("WARNING: oldhandler:%p is not NULL!  "
-                        "Button events may be lost or aliased!\n",
-                        oldhandler);
+          lowsyslog("WARNING: oldhandler:%p is not NULL!  "
+                    "Button events may be lost or aliased!\n",
+                    oldhandler);
         }
     }
 #endif
@@ -468,11 +468,11 @@ int buttons_main(int argc, char *argv[])
 
           flags = irqsave();
 
-          /* Use lib_lowprintf() for compatibility with interrrupt handler
+          /* Use lowsyslog() for compatibility with interrrupt handler
            * output.
            */
 
-          lib_lowprintf("POLL SET:%02x:\n", newset);
+          lowsyslog("POLL SET:%02x:\n", newset);
           show_buttons(g_oldset, newset);
           g_oldset = newset;
           irqrestore(flags);
diff --git a/apps/examples/can/can.h b/apps/examples/can/can.h
index 53a6b63ea..d9f9236f7 100644
--- a/apps/examples/can/can.h
+++ b/apps/examples/can/can.h
@@ -89,7 +89,7 @@
 
 #ifdef CONFIG_CPP_HAVE_VARARGS
 #  ifdef CONFIG_DEBUG
-#    define message(...) lib_rawprintf(__VA_ARGS__)
+#    define message(...) syslog(__VA_ARGS__)
 #    define msgflush()
 #  else
 #    define message(...) printf(__VA_ARGS__)
@@ -97,7 +97,7 @@
 #  endif
 #else
 #  ifdef CONFIG_DEBUG
-#    define message lib_rawprintf
+#    define message syslog
 #    define msgflush()
 #  else
 #    define message printf
diff --git a/apps/examples/cdcacm/cdcacm.h b/apps/examples/cdcacm/cdcacm.h
index 18570bff0..1b3b2511c 100644
--- a/apps/examples/cdcacm/cdcacm.h
+++ b/apps/examples/cdcacm/cdcacm.h
@@ -112,7 +112,7 @@
 
 #ifdef CONFIG_CPP_HAVE_VARARGS
 #  ifdef CONFIG_DEBUG
-#    define message(...) lib_lowprintf(__VA_ARGS__)
+#    define message(...) lowsyslog(__VA_ARGS__)
 #    define msgflush()
 #  else
 #    define message(...) printf(__VA_ARGS__)
@@ -120,7 +120,7 @@
 #  endif
 #else
 #  ifdef CONFIG_DEBUG
-#    define message lib_lowprintf
+#    define message lowsyslog
 #    define msgflush()
 #  else
 #    define message printf
diff --git a/apps/examples/control_demo/params.c b/apps/examples/control_demo/params.c
index 6525b70f5..8cefc298f 100644
--- a/apps/examples/control_demo/params.c
+++ b/apps/examples/control_demo/params.c
@@ -52,9 +52,9 @@ PARAM_DEFINE_FLOAT(FWB_XT2YAW_MAX, 1.57f);  // cross-track to yaw angle limit 90
 PARAM_DEFINE_FLOAT(FWB_XT2YAW, 0.005f);     // cross-track to yaw angle gain
 
 // speed command
-PARAM_DEFINE_FLOAT(FWB_V_MIN, 20.0f);       // minimum commanded velocity
-PARAM_DEFINE_FLOAT(FWB_V_CMD, 22.0f);       // commanded velocity
-PARAM_DEFINE_FLOAT(FWB_V_MAX, 24.0f);       // maximum commanded velocity
+PARAM_DEFINE_FLOAT(FWB_V_MIN, 10.0f);       // minimum commanded velocity
+PARAM_DEFINE_FLOAT(FWB_V_CMD, 12.0f);       // commanded velocity
+PARAM_DEFINE_FLOAT(FWB_V_MAX, 16.0f);       // maximum commanded velocity
 
 // trim
 PARAM_DEFINE_FLOAT(FWB_TRIM_AIL, 0.0f);     // trim aileron, normalized (-1,1)
diff --git a/apps/examples/kalman_demo/KalmanNav.cpp b/apps/examples/kalman_demo/KalmanNav.cpp
index 1d59f9677..db851221b 100644
--- a/apps/examples/kalman_demo/KalmanNav.cpp
+++ b/apps/examples/kalman_demo/KalmanNav.cpp
@@ -190,11 +190,12 @@ void KalmanNav::update()
 	if (!_positionInitialized &&
 	    _attitudeInitialized && // wait for attitude first
 	    gpsUpdate &&
-	    _gps.fix_type > 2 &&
-	    _gps.counter_pos_valid > 10) {
-		vN = _gps.vel_n;
-		vE = _gps.vel_e;
-		vD = _gps.vel_d;
+	    _gps.fix_type > 2
+	    //&& _gps.counter_pos_valid > 10
+	    ) {
+		vN = _gps.vel_n_m_s;
+		vE = _gps.vel_e_m_s;
+		vD = _gps.vel_d_m_s;
 		setLatDegE7(_gps.lat);
 		setLonDegE7(_gps.lon);
 		setAltE3(_gps.alt);
@@ -259,7 +260,7 @@ void KalmanNav::updatePublications()
 
 	// position publication
 	_pos.timestamp = _pubTimeStamp;
-	_pos.time_gps_usec = _gps.timestamp;
+	_pos.time_gps_usec = _gps.timestamp_position;
 	_pos.valid = true;
 	_pos.lat = getLatDegE7();
 	_pos.lon = getLonDegE7();
@@ -630,8 +631,8 @@ int KalmanNav::correctPos()
 
 	// residual
 	Vector y(5);
-	y(0) = _gps.vel_n - vN;
-	y(1) = _gps.vel_e - vE;
+	y(0) = _gps.vel_n_m_s - vN;
+	y(1) = _gps.vel_e_m_s - vE;
 	y(2) = double(_gps.lat) - lat * 1.0e7 * M_RAD_TO_DEG;
 	y(3) = double(_gps.lon) - lon * 1.0e7 * M_RAD_TO_DEG;
 	y(4) = double(_gps.alt) / 1.0e3 - alt;
@@ -650,9 +651,9 @@ int KalmanNav::correctPos()
 			// abort correction and return
 			printf("[kalman_demo] numerical failure in gps correction\n");
 			// fallback to GPS
-			vN = _gps.vel_n;
-			vE = _gps.vel_e;
-			vD = _gps.vel_d;
+			vN = _gps.vel_n_m_s;
+			vE = _gps.vel_e_m_s;
+			vD = _gps.vel_d_m_s;
 			setLatDegE7(_gps.lat);
 			setLonDegE7(_gps.lon);
 			setAltE3(_gps.alt);
diff --git a/apps/examples/ostest/ostest_main.c b/apps/examples/ostest/ostest_main.c
index aab1ff045..3e4197fdc 100644
--- a/apps/examples/ostest/ostest_main.c
+++ b/apps/examples/ostest/ostest_main.c
@@ -43,8 +43,11 @@
 #include <stdio.h>
 #include <stdlib.h>
 #include <unistd.h>
+#include <signal.h>
 #include <string.h>
 #include <sched.h>
+#include <errno.h>
+
 #include <nuttx/init.h>
 
 #include "ostest.h"
@@ -264,6 +267,31 @@ static int user_main(int argc, char *argv[])
     }
   check_test_memory_usage();
 
+  /* If retention of child status is enable, then suppress it for this task.
+   * This task may produce many, many children (especially if
+   * CONFIG_EXAMPLES_OSTEST_LOOPS) and it does not harvest their exit status.
+   * As a result, the test may fail inappropriately unless retention of
+   * child exit status is disabled.
+   *
+   * So basically, this tests that child status can be disabled, but cannot
+   * verify that status is retained correctly.
+   */
+
+#if defined(CONFIG_SCHED_HAVE_PARENT) && defined(CONFIG_SCHED_CHILD_STATUS)
+  {
+    struct sigaction sa;
+    int ret;
+
+    sa.sa_handler = SIG_IGN;
+    sa.sa_flags = SA_NOCLDWAIT;
+    ret = sigaction(SIGCHLD, &sa, NULL);
+    if (ret < 0)
+      {
+        printf("user_main: ERROR: sigaction failed: %d\n", errno);
+      }
+  }
+#endif
+
   /* Check environment variables */
 #ifndef CONFIG_DISABLE_ENVIRON
   show_environment(true, true, true);
diff --git a/apps/examples/ostest/waitpid.c b/apps/examples/ostest/waitpid.c
index e53b49213..d45410265 100644
--- a/apps/examples/ostest/waitpid.c
+++ b/apps/examples/ostest/waitpid.c
@@ -113,14 +113,14 @@ static void waitpid_last(void)
       printf("waitpid_last: ERROR: PID %d waitpid failed: %d\n",
              g_waitpids[NCHILDREN-1], errcode);
     }
-  else if (stat_loc != RETURN_STATUS)
+  else if (WEXITSTATUS(stat_loc) != RETURN_STATUS)
     {
       printf("waitpid_last: ERROR: PID %d return status is %d, expected %d\n",
-             g_waitpids[NCHILDREN-1], stat_loc, RETURN_STATUS);
+             g_waitpids[NCHILDREN-1], WEXITSTATUS(stat_loc), RETURN_STATUS);
     }
   else
     {
-      printf("waitpid_last: PID %d waitpid succeeded with stat_loc=%d\n",
+      printf("waitpid_last: PID %d waitpid succeeded with stat_loc=%04x\n",
              g_waitpids[NCHILDREN-1], stat_loc);
     }
 }
@@ -155,14 +155,14 @@ int waitpid_test(void)
       printf("waitpid_test: ERROR: PID %d wait returned PID %d\n",
              g_waitpids[0], ret);
     }
-  else if (stat_loc != RETURN_STATUS)
+  else if (WEXITSTATUS(stat_loc) != RETURN_STATUS)
     {
       printf("waitpid_test: ERROR: PID %d return status is %d, expected %d\n",
-             g_waitpids[0], stat_loc, RETURN_STATUS);
+             g_waitpids[0], WEXITSTATUS(stat_loc), RETURN_STATUS);
     }
   else
     {
-      printf("waitpid_test: PID %d waitpid succeeded with stat_loc=%d\n",
+      printf("waitpid_test: PID %d waitpid succeeded with stat_loc=%04x\n",
              g_waitpids[0], stat_loc);
     }
 
@@ -246,14 +246,14 @@ int waitpid_test(void)
       int errcode = errno;
       printf("waitpid_test: ERROR: wait failed: %d\n", errcode);
     }
-  else if (stat_loc != RETURN_STATUS)
+  else if (WEXITSTATUS(stat_loc) != RETURN_STATUS)
     {
       printf("waitpid_test: ERROR: PID %d return status is %d, expected %d\n",
-             ret, stat_loc, RETURN_STATUS);
+             ret, WEXITSTATUS(stat_loc), RETURN_STATUS);
     }
   else
     {
-      printf("waitpid_test: PID %d wait succeeded with stat_loc=%d\n",
+      printf("waitpid_test: PID %d wait succeeded with stat_loc=%04x\n",
              ret, stat_loc);
     }
 
diff --git a/apps/examples/poll/Kconfig b/apps/examples/poll/Kconfig
index c52827496..f35a9200b 100644
--- a/apps/examples/poll/Kconfig
+++ b/apps/examples/poll/Kconfig
@@ -6,8 +6,26 @@
 config EXAMPLES_POLL
 	bool "Poll example"
 	default n
+	depends on !NSH_BUILTIN_APPS
 	---help---
 		Enable the poll example
 
 if EXAMPLES_POLL
+
+config EXAMPLES_POLL_NOMAC
+	bool "Use Canned MAC Address"
+	default n
+
+config EXAMPLES_POLL_IPADDR
+	hex "Target IP address"
+	default 0x0a000002
+
+config EXAMPLES_POLL_DRIPADDR
+	hex "Default Router IP address (Gateway)"
+	default 0x0a000001
+
+config EXAMPLES_POLL_NETMASK
+	hex "Network Mask"
+	default 0xffffff00
+
 endif
diff --git a/apps/examples/poll/poll_internal.h b/apps/examples/poll/poll_internal.h
index b2400932e..759d23f1c 100644
--- a/apps/examples/poll/poll_internal.h
+++ b/apps/examples/poll/poll_internal.h
@@ -71,7 +71,7 @@
 #  undef HAVE_NETPOLL
 #endif
 
-/* If debug is enabled, then use lib_rawprintf so that OS debug output and
+/* If debug is enabled, then use syslog so that OS debug output and
  * the test output are synchronized.
  *
  * These macros will differ depending upon if the toolchain supports
@@ -80,7 +80,7 @@
 
 #ifdef CONFIG_CPP_HAVE_VARARGS
 # ifdef CONFIG_DEBUG
-#   define message(...) lib_rawprintf(__VA_ARGS__)
+#   define message(...) syslog(__VA_ARGS__)
 #   define msgflush()
 # else
 #   define message(...) printf(__VA_ARGS__)
@@ -88,7 +88,7 @@
 # endif
 #else
 # ifdef CONFIG_DEBUG
-#   define message      lib_rawprintf
+#   define message      syslog
 #   define msgflush()
 # else
 #   define message      printf
diff --git a/apps/examples/pwm/pwm.h b/apps/examples/pwm/pwm.h
index 5c049a8f8..a6132ca8b 100644
--- a/apps/examples/pwm/pwm.h
+++ b/apps/examples/pwm/pwm.h
@@ -92,7 +92,7 @@
 
 #ifdef CONFIG_CPP_HAVE_VARARGS
 #  ifdef CONFIG_DEBUG
-#    define message(...) lib_rawprintf(__VA_ARGS__)
+#    define message(...) syslog(__VA_ARGS__)
 #    define msgflush()
 #  else
 #    define message(...) printf(__VA_ARGS__)
@@ -100,7 +100,7 @@
 #  endif
 #else
 #  ifdef CONFIG_DEBUG
-#    define message lib_rawprintf
+#    define message syslog
 #    define msgflush()
 #  else
 #    define message printf
diff --git a/apps/examples/qencoder/qe.h b/apps/examples/qencoder/qe.h
index 4c03689ab..3c20511ca 100644
--- a/apps/examples/qencoder/qe.h
+++ b/apps/examples/qencoder/qe.h
@@ -77,7 +77,7 @@
 
 #ifdef CONFIG_CPP_HAVE_VARARGS
 #  ifdef CONFIG_DEBUG
-#    define message(...) lib_rawprintf(__VA_ARGS__)
+#    define message(...) syslog(__VA_ARGS__)
 #    define msgflush()
 #  else
 #    define message(...) printf(__VA_ARGS__)
@@ -85,7 +85,7 @@
 #  endif
 #else
 #  ifdef CONFIG_DEBUG
-#    define message lib_rawprintf
+#    define message syslog
 #    define msgflush()
 #  else
 #    define message printf
diff --git a/apps/examples/watchdog/watchdog.h b/apps/examples/watchdog/watchdog.h
index dc2dea944..dd4daebb9 100644
--- a/apps/examples/watchdog/watchdog.h
+++ b/apps/examples/watchdog/watchdog.h
@@ -89,7 +89,7 @@
 
 #ifdef CONFIG_CPP_HAVE_VARARGS
 #  ifdef CONFIG_DEBUG
-#    define message(...) lib_rawprintf(__VA_ARGS__)
+#    define message(...) syslog(__VA_ARGS__)
 #    define msgflush()
 #  else
 #    define message(...) printf(__VA_ARGS__)
@@ -97,7 +97,7 @@
 #  endif
 #else
 #  ifdef CONFIG_DEBUG
-#    define message lib_rawprintf
+#    define message syslog
 #    define msgflush()
 #  else
 #    define message printf
diff --git a/apps/gps/.context b/apps/gps/.context
deleted file mode 100644
index e69de29bb..000000000
--- a/apps/gps/.context
+++ /dev/null
diff --git a/apps/gps/.gitignore b/apps/gps/.gitignore
deleted file mode 100644
index a02827195..000000000
--- a/apps/gps/.gitignore
+++ /dev/null
@@ -1,3 +0,0 @@
-include
-mavlink-*
-pymavlink-*
diff --git a/apps/gps/gps.c b/apps/gps/gps.c
deleted file mode 100644
index 8a9512054..000000000
--- a/apps/gps/gps.c
+++ /dev/null
@@ -1,589 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
- *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
- *           Julian Oes <joes@student.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/* @file gps.c
- * GPS app main loop.
- */
-
-#include "gps.h"
-#include <nuttx/config.h>
-#include <unistd.h>
-#include <stdlib.h>
-#include <stdio.h>
-#include <stdbool.h>
-#include <fcntl.h>
-#include "nmealib/nmea/nmea.h" // the nmea library
-#include "nmea_helper.h" //header files for interacting with the nmea library
-#include "mtk.h" //header files for the custom protocol for the mediatek diydrones chip
-#include "ubx.h" //header files for the ubx protocol
-#include <termios.h>
-#include <signal.h>
-#include <pthread.h>
-#include <sys/prctl.h>
-#include <errno.h>
-#include <signal.h>
-#include <v1.0/common/mavlink.h>
-#include <mavlink/mavlink_log.h>
-
-#include <systemlib/systemlib.h>
-
-static bool thread_should_exit;				/**< Deamon status flag */
-static bool thread_running = false;				/**< Deamon status flag */
-static int deamon_task;							/**< Handle of deamon task / thread */
-
-/**
- * GPS module readout and publishing.
- * 
- * This function reads the onboard gps and publishes the vehicle_gps_positon topic.
- *
- * @see vehicle_gps_position_s
- * @ingroup apps
- */
-__EXPORT int gps_main(int argc, char *argv[]);
-
-/**
- * Mainloop of deamon.
- */
-int gps_thread_main(int argc, char *argv[]);
-
-/**
- * Print the correct usage.
- */
-static void usage(const char *reason);
-
-/****************************************************************************
- * Definitions
- ****************************************************************************/
-#define IMPORTANT_GPS_BAUD_RATES_N		2
-#define RETRY_INTERVAL_SECONDS			10
-
-//gps_bin_ubx_state_t * ubx_state;
-bool gps_mode_try_all;
-bool gps_baud_try_all;
-bool gps_mode_success;
-bool terminate_gps_thread;
-bool gps_verbose;
-int current_gps_speed;
-
-enum GPS_MODES {
-	GPS_MODE_START = 0,
-	GPS_MODE_UBX = 1,
-	GPS_MODE_MTK = 2,
-	GPS_MODE_NMEA = 3,
-	GPS_MODE_END = 4
-};
-
-
-#define AUTO_DETECTION_COUNT 8
-const int autodetection_baudrates[] = {B38400, B9600, B38400, B9600, B38400, B9600, B38400, B9600};
-const enum GPS_MODES autodetection_gpsmodes[] = {GPS_MODE_UBX, GPS_MODE_UBX, GPS_MODE_MTK, GPS_MODE_MTK, GPS_MODE_UBX, GPS_MODE_UBX, GPS_MODE_NMEA, GPS_MODE_NMEA}; //nmea is the fall-back if nothing else works, therefore we try the standard modes again before finally trying nmea
-
-/****************************************************************************
- * Private functions
- ****************************************************************************/
-int open_port(char *port);
-
-void close_port(int *fd);
-
-void setup_port(char *device, int speed, int *fd);
-
-
-/**
- * The deamon app only briefly exists to start
- * the background job. The stack size assigned in the
- * Makefile does only apply to this management task.
- * 
- * The actual stack size should be set in the call
- * to task_create().
- */
-int gps_main(int argc, char *argv[])
-{
-	if (argc < 1)
-		usage("missing command");
-
-	if (!strcmp(argv[1], "start")) {
-
-		if (thread_running) {
-			printf("gps already running\n");
-			/* this is not an error */
-			exit(0);
-		}
-
-		thread_should_exit = false;
-		deamon_task = task_spawn("gps",
-					 SCHED_DEFAULT,
-					 SCHED_PRIORITY_DEFAULT,
-					 4096,
-					 gps_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
-		thread_running = true;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "stop")) {
-		thread_should_exit = true;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "status")) {
-		if (thread_running) {
-			printf("\tgps is running\n");
-		} else {	
-			printf("\tgps not started\n");
-		}
-		exit(0);
-	}
-
-	usage("unrecognized command");
-	exit(1);
-}
-
-/*
- * Main function of gps app.
- */
-int gps_thread_main(int argc, char *argv[]) {
-
-	/* welcome message */
-	printf("[gps] Initialized. Searching for GPS receiver..\n");
-
-	/* default values */
-	const char *commandline_usage = "\tusage: %s {start|stop|status} -d devicename -b baudrate -m mode\n\tmodes are:\n\t\tubx\n\t\tmtkcustom\n\t\tnmea\n\t\tall\n";
-	char *device = "/dev/ttyS3";
-	char mode[10];
-	strcpy(mode, "all");
-	int baudrate = -1;
-	gps_mode_try_all = false;
-	gps_baud_try_all = false;
-	gps_mode_success = true;
-	terminate_gps_thread = false;
-	bool retry = false;
-	gps_verbose = false;
-
-	int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
-
-	/* read arguments */
-	int i;
-
-	for (i = 0; i < argc; i++) {
-		if (strcmp(argv[i], "-h") == 0 || strcmp(argv[i], "--help") == 0) { //device set
-			printf(commandline_usage, argv[0]);
-			thread_running = false;
-			return 0;
-		}
-
-		if (strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "--device") == 0) { //device set
-			if (argc > i + 1) {
-				device = argv[i + 1];
-
-			} else {
-				printf(commandline_usage, argv[0]);
-				thread_running = false;
-				return 0;
-			}
-		}
-
-		if (strcmp(argv[i], "-r") == 0 || strcmp(argv[i], "--retry") == 0) {
-			if (argc > i + 1) {
-				retry = atoi(argv[i + 1]);
-
-			} else {
-				printf(commandline_usage, argv[0]);
-				thread_running = false;
-				return 0;
-			}
-		}
-
-		if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--baud") == 0) {
-			if (argc > i + 1) {
-				baudrate = atoi(argv[i + 1]);
-
-			} else {
-				printf(commandline_usage, argv[0]);
-				thread_running = false;
-				return 0;
-			}
-		}
-
-		if (strcmp(argv[i], "-m") == 0 || strcmp(argv[i], "--mode") == 0) {
-			if (argc > i + 1) {
-				strcpy(mode, argv[i + 1]);
-
-			} else {
-				printf(commandline_usage, argv[0]);
-				thread_running = false;
-				return 0;
-			}
-		}
-
-		if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
-			gps_verbose = true;
-		}
-	}
-
-	/*
-	 * In case a baud rate is set only this baud rate will be tried,
-	 * otherwise a array of usual baud rates for gps receivers is used
-	 */
-
-
-//	printf("baudrate = %d\n",baudrate);
-	switch (baudrate) {
-	case -1:     gps_baud_try_all = true; break;
-
-	case 0:      current_gps_speed = B0;      break;
-	case 50:     current_gps_speed = B50;     break;
-	case 75:     current_gps_speed = B75;     break;
-	case 110:    current_gps_speed = B110;    break;
-	case 134:    current_gps_speed = B134;    break;
-	case 150:    current_gps_speed = B150;    break;
-	case 200:    current_gps_speed = B200;    break;
-	case 300:    current_gps_speed = B300;    break;
-	case 600:    current_gps_speed = B600;    break;
-	case 1200:   current_gps_speed = B1200;   break;
-	case 1800:   current_gps_speed = B1800;   break;
-	case 2400:   current_gps_speed = B2400;   break;
-	case 4800:   current_gps_speed = B4800;   break;
-	case 9600:   current_gps_speed = B9600;   break;
-	case 19200:  current_gps_speed = B19200;  break;
-	case 38400:  current_gps_speed = B38400;  break;
-	case 57600:  current_gps_speed = B57600;  break;
-	case 115200: current_gps_speed = B115200; break;
-	case 230400: current_gps_speed = B230400; break;
-	case 460800: current_gps_speed = B460800; break;
-	case 921600: current_gps_speed = B921600; break;
-
-	default:
-		fprintf(stderr, "[gps] ERROR: Unsupported baudrate: %d\n", baudrate);
-		fflush(stdout);
-		return -EINVAL;
-	}
-
-
-	enum GPS_MODES current_gps_mode = GPS_MODE_UBX;
-
-	if (strcmp(mode, "ubx") == 0) {
-		current_gps_mode = GPS_MODE_UBX;
-
-	} else if (strcmp(mode, "mtkcustom") == 0) {
-		current_gps_mode = GPS_MODE_MTK;
-
-	} else if (strcmp(mode, "nmea") == 0) {
-		current_gps_mode = GPS_MODE_NMEA;
-
-	} else if (strcmp(mode, "all") == 0) {
-		gps_mode_try_all = true;
-
-	} else {
-		fprintf(stderr, "\t[gps] Invalid mode argument\n");
-		printf(commandline_usage);
-		thread_running = false;
-		return ERROR;
-	}
-
-	/* Declare file descriptor for gps here, open port later in setup_port */
-	int fd;
-
-	while (!thread_should_exit) {
-		/* Infinite retries or break if retry == false */
-
-		/* Loop over all configurations of baud rate and protocol */
-		for (i = 0; i < AUTO_DETECTION_COUNT; i++) {
-			if (gps_mode_try_all) {
-				current_gps_mode = autodetection_gpsmodes[i];
-
-				if (false == gps_baud_try_all && autodetection_baudrates[i] != current_gps_speed) //there is no need to try modes which are not configured to run with the selcted baud rate
-					continue;
-			}
-
-			if (gps_baud_try_all) {
-				current_gps_speed = autodetection_baudrates[i];
-
-				if (false == gps_mode_try_all && autodetection_gpsmodes[i] != current_gps_mode) //there is no need to try baud rates which are not usual for the selected mode
-					continue;
-			}
-
-
-			/*
-			 * The watchdog_thread will return and set gps_mode_success to false if no data can be parsed.
-			 * if the gps was once running the wtachdog thread will not return but instead try to reconfigure the gps (depending on the mode/protocol)
-			 */
-
-			if (current_gps_mode == GPS_MODE_UBX) {
-
-				if (gps_verbose) printf("[gps] Trying UBX mode at %d baud\n", current_gps_speed);
-
-				mavlink_log_info(mavlink_fd, "[gps] trying to connect to a ubx module");
-                
-				setup_port(device, current_gps_speed, &fd);
-                
-				/* start ubx thread and watchdog */
-				pthread_t ubx_thread;
-				pthread_t ubx_watchdog_thread;
-
-				pthread_mutex_t  ubx_mutex_d;
-				ubx_mutex = &ubx_mutex_d;
-				pthread_mutex_init(ubx_mutex, NULL);
-				gps_bin_ubx_state_t ubx_state_d;
-				ubx_state = &ubx_state_d;
-				ubx_decode_init();
-
-				pthread_attr_t ubx_loop_attr;
-				pthread_attr_init(&ubx_loop_attr);
-				pthread_attr_setstacksize(&ubx_loop_attr, 3000);
-
-				struct arg_struct args;
-				args.fd_ptr = &fd;
-				args.thread_should_exit_ptr = &thread_should_exit;
-
-				pthread_create(&ubx_thread, &ubx_loop_attr, ubx_loop, (void *)&args);
-                
-				pthread_attr_t ubx_wd_attr;
-				pthread_attr_init(&ubx_wd_attr);
-				pthread_attr_setstacksize(&ubx_wd_attr, 1400);
-				int pthread_create_res = pthread_create(&ubx_watchdog_thread, &ubx_wd_attr, ubx_watchdog_loop, (void *)&args);
-
-				if (pthread_create_res != 0) fprintf(stderr, "[gps] ERROR: could not create ubx watchdog thread, pthread_create =%d\n", pthread_create_res);
-
-				/* wait for threads to complete */
-				pthread_join(ubx_watchdog_thread, NULL);
-
-				if (gps_mode_success == false) {
-					if (gps_verbose) printf("[gps] no success with UBX mode and %d baud\n", current_gps_speed);
-
-					terminate_gps_thread = true;
-					pthread_join(ubx_thread, NULL);
-
-					gps_mode_success = true;
-					terminate_gps_thread = false;
-
-				/* maybe the watchdog was stopped through the thread_should_exit flag */
-				} else if (thread_should_exit) {
-					pthread_join(ubx_thread, NULL);
-					if (gps_verbose) printf("[gps] ubx watchdog and ubx loop threads have been terminated, exiting.");
-					close(mavlink_fd);
-					close_port(&fd);
-					thread_running = false;
-					return 0;
-				}
-
-				close_port(&fd);
-			} else if (current_gps_mode == GPS_MODE_MTK) {
-				if (gps_verbose) printf("[gps] trying MTK binary mode at %d baud\n", current_gps_speed);
-
-				mavlink_log_info(mavlink_fd, "[gps] trying to connect to a MTK module");
-
-				setup_port(device, current_gps_speed, &fd);
-
-				/* start mtk thread and watchdog */
-				pthread_t mtk_thread;
-				pthread_t mtk_watchdog_thread;
-
-				pthread_mutex_t  mtk_mutex_d;
-				mtk_mutex = &mtk_mutex_d;
-				pthread_mutex_init(mtk_mutex, NULL);
-
-
-				gps_bin_mtk_state_t mtk_state_d;
-				mtk_state = &mtk_state_d;
-				mtk_decode_init();
-
-
-				pthread_attr_t mtk_loop_attr;
-				pthread_attr_init(&mtk_loop_attr);
-				pthread_attr_setstacksize(&mtk_loop_attr, 2048);
-
-				struct arg_struct args;
-				args.fd_ptr = &fd;
-				args.thread_should_exit_ptr = &thread_should_exit;
-
-				pthread_create(&mtk_thread, &mtk_loop_attr, mtk_loop, (void *)&args);
-				sleep(2);
-				pthread_create(&mtk_watchdog_thread, NULL, mtk_watchdog_loop, (void *)&args);
-
-				/* wait for threads to complete */
-				pthread_join(mtk_watchdog_thread, (void *)&fd);
-
-				if (gps_mode_success == false) {
-					if (gps_verbose) printf("[gps] No success with MTK binary mode and %d baud\n", current_gps_speed);
-
-					terminate_gps_thread = true;
-					pthread_join(mtk_thread, NULL);
-
-					//if(true == gps_mode_try_all)
-					//strcpy(mode, "nmea");
-
-					gps_mode_success = true;
-					terminate_gps_thread = false;
-				}
-
-				close_port(&fd);
-
-			} else if (current_gps_mode == GPS_MODE_NMEA) {
-				if (gps_verbose) printf("[gps] Trying NMEA mode at %d baud\n", current_gps_speed);
-
-				mavlink_log_info(mavlink_fd, "[gps] trying to connect to a NMEA module");
-
-
-				setup_port(device, current_gps_speed, &fd);
-
-				/* start nmea thread and watchdog */
-				pthread_t nmea_thread;
-				pthread_t nmea_watchdog_thread;
-
-				pthread_mutex_t  nmea_mutex_d;
-				nmea_mutex = &nmea_mutex_d;
-				pthread_mutex_init(nmea_mutex, NULL);
-
-				gps_bin_nmea_state_t nmea_state_d;
-				nmea_state = &nmea_state_d;
-
-				pthread_attr_t nmea_loop_attr;
-				pthread_attr_init(&nmea_loop_attr);
-				pthread_attr_setstacksize(&nmea_loop_attr, 4096);
-
-				struct arg_struct args;
-				args.fd_ptr = &fd;
-				args.thread_should_exit_ptr = &thread_should_exit;
-
-				pthread_create(&nmea_thread, &nmea_loop_attr, nmea_loop, (void *)&args);
-				sleep(2);
-				pthread_create(&nmea_watchdog_thread, NULL, nmea_watchdog_loop, (void *)&args);
-
-				/* wait for threads to complete */
-				pthread_join(nmea_watchdog_thread, (void *)&fd);
-
-				if (gps_mode_success == false) {
-					if (gps_verbose) printf("[gps] No success with NMEA mode and %d baud\r\n", current_gps_speed);
-
-					terminate_gps_thread = true;
-					pthread_join(nmea_thread, NULL);
-
-					gps_mode_success = true;
-					terminate_gps_thread = false;
-				}
-
-				close_port(&fd);
-			}
-
-			/* exit quickly if stop command has been received */
-			if (thread_should_exit) {
-				printf("[gps] stopped, exiting.\n");
-				close(mavlink_fd);
-				thread_running = false;
-				return 0;
-	        }
-
-			/* if both, mode and baud is set by argument, we only need one loop*/
-			if (gps_mode_try_all == false && gps_baud_try_all == false)
-				break;
-		}
-
-	        
-		if (retry) {
-			printf("[gps] No configuration was successful, retrying in %d seconds \n", RETRY_INTERVAL_SECONDS);
-			mavlink_log_info(mavlink_fd, "[gps] No configuration was successful, retrying...");
-			fflush(stdout);
-
-		} else {
-			fprintf(stderr, "[gps] No configuration was successful, exiting... \n");
-			fflush(stdout);
-			mavlink_log_info(mavlink_fd, "[gps] No configuration was successful, exiting...");
-			break;
-		}
-
-		sleep(RETRY_INTERVAL_SECONDS);
-	}
-
-	printf("[gps] exiting.\n");
-	close(mavlink_fd);
-	thread_running = false;
-	return 0;
-}
-
-
-static void usage(const char *reason)
-{
-	if (reason)
-		fprintf(stderr, "%s\n", reason);
-	fprintf(stderr, "\tusage: gps {start|status|stop} -d devicename -b baudrate -m mode\n\tmodes are:\n\t\tubx\n\t\tmtkcustom\n\t\tnmea\n\t\tall\n");
-	exit(1);
-}
-
-int open_port(char *port)
-{
-	int fd; /**< File descriptor for the gps port */
-
-	/* Open serial port */
-	fd = open(port, O_CREAT | O_RDWR | O_NOCTTY); /* O_RDWR - Read and write O_NOCTTY - Ignore special chars like CTRL-C */
-	return (fd);
-}
-
-
-void close_port(int *fd)
-{
-	/* Close serial port */
-	close(*fd);
-}
-
-void setup_port(char *device, int speed, int *fd)
-{
-	/* open port (baud rate is set in defconfig file) */
-	*fd = open_port(device);
-
-	if (*fd != -1) {
-		if (gps_verbose) printf("[gps] Port opened: %s at %d baud\n", device, speed);
-
-	} else {
-		fprintf(stderr, "[gps] Could not open port, exiting gps app!\n");
-		fflush(stdout);
-	}
-
-	/* Try to set baud rate */
-	struct termios uart_config;
-	int termios_state;
-
-	if ((termios_state = tcgetattr(*fd, &uart_config)) < 0) {
-		fprintf(stderr, "[gps] ERROR getting baudrate / termios config for %s: %d\n", device, termios_state);
-		close(*fd);
-	}
-	if (gps_verbose) printf("[gps] Try to set baud rate %d now\n",speed);
-	/* Set baud rate */
-	cfsetispeed(&uart_config, speed);
-	cfsetospeed(&uart_config, speed);
-	if ((termios_state = tcsetattr(*fd, TCSANOW, &uart_config)) < 0) {
-		fprintf(stderr, "[gps] ERROR setting baudrate / termios config for %s (tcsetattr)\n", device);
-		close(*fd);
-	}
-}
diff --git a/apps/gps/gps.h b/apps/gps/gps.h
deleted file mode 100644
index 499a6164f..000000000
--- a/apps/gps/gps.h
+++ /dev/null
@@ -1,18 +0,0 @@
-/*
- * gps.h
- *
- *  Created on: Mar 8, 2012
- *      Author: thomasgubler
- */
-
-#ifndef GPS_H_
-#define GPS_H
-
-#include <stdbool.h>
-
-struct arg_struct {
-    int *fd_ptr;
-    bool *thread_should_exit_ptr;
-};
-
-#endif /* GPS_H_ */
diff --git a/apps/gps/mtk.c b/apps/gps/mtk.c
deleted file mode 100644
index 3b0ee4565..000000000
--- a/apps/gps/mtk.c
+++ /dev/null
@@ -1,432 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Julian Oes <joes@student.ethz.ch>
- *           Thomas Gubler <thomasgubler@student.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/* @file MTK custom binary (3DR) protocol implementation */
-
-#include "gps.h"
-#include "mtk.h"
-#include <nuttx/config.h>
-#include <unistd.h>
-#include <sys/prctl.h>
-#include <pthread.h>
-#include <poll.h>
-#include <fcntl.h>
-#include <drivers/drv_hrt.h>
-#include <uORB/uORB.h>
-#include <uORB/topics/vehicle_gps_position.h>
-#include <mavlink/mavlink_log.h>
-
-#define MTK_HEALTH_SUCCESS_COUNTER_LIMIT 2
-#define MTK_HEALTH_FAIL_COUNTER_LIMIT 2
-
-// XXX decrease this substantially, it should be only a few dozen bytes max.
-#warning XXX trying 128 for now
-#define MTK_BUFFER_SIZE 128
-
-pthread_mutex_t *mtk_mutex;
-gps_bin_mtk_state_t *mtk_state;
-static struct vehicle_gps_position_s *mtk_gps;
-
-extern bool gps_mode_try_all;
-extern bool gps_mode_success;
-extern bool terminate_gps_thread;
-extern bool gps_baud_try_all;
-extern bool gps_verbose;
-extern int current_gps_speed;
-
-
-void mtk_decode_init(void)
-{
-	mtk_state->ck_a = 0;
-	mtk_state->ck_b = 0;
-	mtk_state->rx_count = 0;
-	mtk_state->decode_state = MTK_DECODE_UNINIT;
-	mtk_state->print_errors = false;
-}
-
-void mtk_checksum(uint8_t b, uint8_t *ck_a, uint8_t *ck_b)
-{
-	*(ck_a) = *(ck_a) + b;
-	*(ck_b) = *(ck_b) + *(ck_a);
-//	printf("Checksum now: %d\n",*(ck_b));
-}
-
-
-
-int mtk_parse(uint8_t b,  char *gps_rx_buffer)
-{
-//	printf("b=%x\n",b);
-	// Debug output to telemetry port
-	//	PIOS_COM_SendBufferNonBlocking(PIOS_COM_TELEM_RF, &b, 1);
-	if (mtk_state->decode_state == MTK_DECODE_UNINIT) {
-
-		if (b == 0xd0) {
-			mtk_state->decode_state = MTK_DECODE_GOT_CK_A;
-		}
-
-	} else if (mtk_state->decode_state == MTK_DECODE_GOT_CK_A) {
-		if (b == 0xdd) {
-			mtk_state->decode_state = MTK_DECODE_GOT_CK_B;
-
-		} else {
-			// Second start symbol was wrong, reset state machine
-			mtk_decode_init();
-		}
-
-	} else if (mtk_state->decode_state == MTK_DECODE_GOT_CK_B) {
-		// Add to checksum
-		if (mtk_state->rx_count < 33) mtk_checksum(b, &(mtk_state->ck_a), &(mtk_state->ck_b));
-
-		// Fill packet buffer
-		gps_rx_buffer[mtk_state->rx_count] = b;
-		(mtk_state->rx_count)++;
-//			printf("Rx count: %d\n",mtk_state->rx_count);
-		uint8_t ret = 0;
-
-		/* Packet size minus checksum */
-		if (mtk_state->rx_count >= 35) {
-			gps_bin_mtk_packet_t *packet = (gps_bin_mtk_packet_t *) gps_rx_buffer;
-
-			/* Check if checksum is valid */
-			if (mtk_state->ck_a == packet->ck_a && mtk_state->ck_b == packet->ck_b) {
-				mtk_gps->lat = packet->latitude * 10; // mtk: degrees*1e6, mavlink/ubx: degrees*1e7
-				mtk_gps->lon = packet->longitude * 10; // mtk: degrees*1e6, mavlink/ubx: degrees*1e7
-				mtk_gps->alt = (int32_t)(packet->msl_altitude * 10); // conversion from centimeters to millimeters, and from uint32_t to int16_t
-				mtk_gps->fix_type = packet->fix_type;
-				mtk_gps->eph = packet->hdop;
-				mtk_gps->epv = 65535; //unknown in mtk custom mode
-				mtk_gps->vel = packet->ground_speed;
-				mtk_gps->cog = (uint16_t)packet->heading; //mtk: degrees *1e2, mavlink/ubx: degrees *1e2
-				mtk_gps->satellites_visible = packet->satellites;
-
-				/* convert time and date information to unix timestamp */
-				struct tm timeinfo; //TODO: test this conversion
-				uint32_t timeinfo_conversion_temp;
-
-				timeinfo.tm_mday = packet->date * 1e-4;
-				timeinfo_conversion_temp = packet->date - timeinfo.tm_mday * 1e4;
-				timeinfo.tm_mon = timeinfo_conversion_temp * 1e-2 - 1;
-				timeinfo.tm_year = (timeinfo_conversion_temp - (timeinfo.tm_mon + 1) * 1e2) + 100;
-
-				timeinfo.tm_hour = packet->utc_time * 1e-7;
-				timeinfo_conversion_temp = packet->utc_time - timeinfo.tm_hour * 1e7;
-				timeinfo.tm_min = timeinfo_conversion_temp * 1e-5;
-				timeinfo_conversion_temp -= timeinfo.tm_min * 1e5;
-				timeinfo.tm_sec = timeinfo_conversion_temp * 1e-3;
-				timeinfo_conversion_temp -= timeinfo.tm_sec * 1e3;
-				time_t epoch = mktime(&timeinfo);
-				mtk_gps->timestamp = hrt_absolute_time();
-				mtk_gps->time_gps_usec = epoch * 1e6; //TODO: test this
-				mtk_gps->time_gps_usec += timeinfo_conversion_temp * 1e3;
-
-				mtk_gps->counter_pos_valid++;
-
-				mtk_gps->timestamp = hrt_absolute_time();
-
-//					printf("%lu; %lu; %d.%d.%d %d:%d:%d:%d\n", packet->date, packet->utc_time,timeinfo.tm_year, timeinfo.tm_mon, timeinfo.tm_mday, timeinfo.tm_hour, timeinfo.tm_min, timeinfo.tm_sec, timeinfo_conversion_temp);
-
-				pthread_mutex_lock(mtk_mutex);
-//					printf("Write timestamp /n");
-				mtk_state->last_message_timestamp = hrt_absolute_time();
-				pthread_mutex_unlock(mtk_mutex);
-
-				ret = 1;
-//					printf("found package\n");
-
-			} else {
-				if (gps_verbose) printf("[gps] Checksum invalid\r\n");
-
-				ret = 0;
-			}
-
-			// Reset state machine to decode next packet
-			mtk_decode_init();
-//				printf("prepared for next state\n");
-			return ret;
-		}
-	}
-
-	return 0;     // no valid packet found
-
-}
-
-int read_gps_mtk(int *fd, char *gps_rx_buffer, int buffer_size)  // returns 1 if the thread should terminate
-{
-//	printf("in read_gps_mtk\n");
-	uint8_t ret = 0;
-
-	uint8_t c;
-
-	int rx_count = 0;
-	int gpsRxOverflow = 0;
-
-	struct pollfd fds;
-	fds.fd = *fd;
-	fds.events = POLLIN;
-
-	// This blocks the task until there is something on the buffer
-	while (1) {
-		//check if the thread should terminate
-		if (terminate_gps_thread == true) {
-//			printf("terminate_gps_thread=%u ", terminate_gps_thread);
-//			printf("exiting mtk thread\n");
-//			fflush(stdout);
-			ret = 1;
-			break;
-		}
-
-		if (poll(&fds, 1, 1000) > 0) {
-			if (read(*fd, &c, 1) > 0) {
-//				printf("Read %x\n",c);
-				if (rx_count >= buffer_size) {
-					// The buffer is already full and we haven't found a valid NMEA sentence.
-					// Flush the buffer and note the overflow event.
-					gpsRxOverflow++;
-					rx_count = 0;
-					mtk_decode_init();
-
-					if (gps_verbose) printf("[gps] Buffer full\r\n");
-
-				} else {
-					//gps_rx_buffer[rx_count] = c;
-					rx_count++;
-
-				}
-
-				int msg_read = mtk_parse(c, gps_rx_buffer);
-
-				if (msg_read > 0) {
-					//			printf("Found sequence\n");
-					break;
-				}
-
-			} else {
-				break;
-			}
-
-		} else {
-			break;
-		}
-
-	}
-
-	return ret;
-}
-
-int configure_gps_mtk(int *fd)
-{
-	int success = 0;
-	size_t result_write;
-	result_write =  write(*fd, MEDIATEK_REFRESH_RATE_10HZ, strlen(MEDIATEK_REFRESH_RATE_10HZ));
-
-	if (result_write != strlen(MEDIATEK_REFRESH_RATE_10HZ)) {
-		printf("[gps] Set update speed to 10 Hz failed\r\n");
-		success = 1;
-
-	} else {
-		if (gps_verbose) printf("[gps] Attempted to set update speed to 10 Hz..\r\n");
-	}
-
-	//set custom mode
-	result_write =  write(*fd, MEDIATEK_CUSTOM_BINARY_MODE, strlen(MEDIATEK_CUSTOM_BINARY_MODE));
-
-	if (result_write != strlen(MEDIATEK_CUSTOM_BINARY_MODE)) {
-		//global_data_send_subsystem_info(&mtk_present);
-		printf("[gps] Set MTK custom mode failed\r\n");
-		success = 1;
-
-	} else {
-		//global_data_send_subsystem_info(&mtk_present_enabled);
-		if (gps_verbose) printf("[gps] Attempted to set MTK custom mode..\r\n");
-	}
-
-	return success;
-}
-
-void *mtk_loop(void *args)
-{
-//	int oldstate;
-//	pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, oldstate);
-//
-//	printf("in mtk loop\n");
-	/* Set thread name */
-	prctl(PR_SET_NAME, "gps mtk read", getpid());
-
-	/* Retrieve file descriptor and thread flag */
-	struct arg_struct *arguments = (struct arg_struct *)args;
-	int *fd = arguments->fd_ptr;
-	bool *thread_should_exit = arguments->thread_should_exit_ptr;
-
-	/* Initialize gps stuff */
-//	int buffer_size = 1000;
-//	char * gps_rx_buffer = malloc(buffer_size*sizeof(char));
-	char gps_rx_buffer[MTK_BUFFER_SIZE];
-
-	/* set parameters for mtk custom */
-
-	if (configure_gps_mtk(fd) != 0) {
-		printf("[gps] Could not write serial port..\r\n");
-
-		/* Write shared variable sys_status */
-
-		//global_data_send_subsystem_info(&mtk_present);
-
-	} else {
-		if (gps_verbose) printf("[gps] Configuration finished, awaiting GPS data..\r\n");
-
-
-		/* Write shared variable sys_status */
-
-		//global_data_send_subsystem_info(&mtk_present_enabled);
-	}
-
-	/* advertise GPS topic */
-	struct vehicle_gps_position_s mtk_gps_d;
-	mtk_gps = &mtk_gps_d;
-	orb_advert_t gps_handle = orb_advertise(ORB_ID(vehicle_gps_position), mtk_gps);
-
-	while (!(*thread_should_exit)) {
-		/* Parse a message from the gps receiver */
-		if (OK == read_gps_mtk(fd, gps_rx_buffer, MTK_BUFFER_SIZE)) {
-
-			/* publish new GPS position */
-			orb_publish(ORB_ID(vehicle_gps_position), gps_handle, mtk_gps);
-
-		} else {
-			/* de-advertise */
-			close(gps_handle);
-			break;
-		}
-
-	}
-
-	close(gps_handle);
-	if(gps_verbose) printf("[gps] mtk loop is going to terminate\n");
-	return NULL;
-}
-
-void *mtk_watchdog_loop(void *args)
-{
-//	printf("in mtk watchdog loop\n");
-	fflush(stdout);
-
-	/* Set thread name */
-	prctl(PR_SET_NAME, "gps mtk watchdog", getpid());
-
-	/* Retrieve file descriptor and thread flag */
-	struct arg_struct *arguments = (struct arg_struct *)args;
-	int *fd = arguments->fd_ptr;
-	bool *thread_should_exit = arguments->thread_should_exit_ptr;
-
-	bool mtk_healthy = false;
-
-	uint8_t mtk_fail_count = 0;
-	uint8_t mtk_success_count = 0;
-	bool once_ok = false;
-
-	int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
-
-
-	while (!(*thread_should_exit)) {
-		fflush(stdout);
-
-		/* if we have no update for a long time reconfigure gps */
-		pthread_mutex_lock(mtk_mutex);
-		uint64_t timestamp_now = hrt_absolute_time();
-		bool all_okay = true;
-
-		if (timestamp_now - mtk_state->last_message_timestamp > MTK_WATCHDOG_CRITICAL_TIME_MICROSECONDS) {
-			all_okay = false;
-		}
-
-		pthread_mutex_unlock(mtk_mutex);
-
-		if (!all_okay) {
-//			printf("mtk unhealthy\n");
-			mtk_fail_count++;
-			/* gps error */
-//			if (err_skip_counter == 0)
-//			{
-//				printf("[gps] GPS module not connected or not responding..\n");
-//				err_skip_counter = 20;
-//			}
-//			err_skip_counter--;
-
-//			printf("gps_mode_try_all =%u, mtk_fail_count=%u, mtk_healthy=%u, once_ok=%u\n", gps_mode_try_all, mtk_fail_count, mtk_healthy, once_ok);
-
-			/* If we have too many failures and another mode or baud should be tried, exit... */
-			if ((gps_mode_try_all == true  || gps_baud_try_all == true) && (mtk_fail_count >= MTK_HEALTH_FAIL_COUNTER_LIMIT) && (mtk_healthy == false) && once_ok == false) {
-				if (gps_verbose) printf("[gps] Connection attempt failed, no MTK module found\r\n");
-
-				gps_mode_success = false;
-				break;
-			}
-
-			if (mtk_healthy && mtk_fail_count >= MTK_HEALTH_FAIL_COUNTER_LIMIT) {
-				printf("[gps] ERROR: MTK GPS module stopped responding\r\n");
-				// global_data_send_subsystem_info(&mtk_present_enabled);
-				mavlink_log_critical(mavlink_fd, "[gps] MTK module stopped responding\n");
-				mtk_healthy = false;
-				mtk_success_count = 0;
-
-			}
-
-			/* trying to reconfigure the gps configuration */
-			configure_gps_mtk(fd);
-			fflush(stdout);
-
-		} else {
-			/* gps healthy */
-			mtk_success_count++;
-			mtk_fail_count = 0;
-			once_ok = true; // XXX Should this be true on a single success, or on same criteria as mtk_healthy?
-
-			if (!mtk_healthy && mtk_success_count >= MTK_HEALTH_SUCCESS_COUNTER_LIMIT) {
-				printf("[gps] MTK module found, status ok (baud=%d)\r\n", current_gps_speed);
-				/* MTK never has sat info */
-				// XXX Check if lock makes sense here
-				mtk_gps->satellite_info_available = 0;
-				// global_data_send_subsystem_info(&mtk_present_enabled_healthy);
-				mavlink_log_info(mavlink_fd, "[gps] MTK custom binary module found, status ok\n");
-				mtk_healthy = true;
-			}
-		}
-
-		usleep(MTK_WATCHDOG_WAIT_TIME_MICROSECONDS);
-	}
-	if(gps_verbose) printf("[gps] mtk watchdog is going to terminate\n");
-	close(mavlink_fd);
-	return NULL;
-}
diff --git a/apps/gps/mtk.h b/apps/gps/mtk.h
deleted file mode 100644
index 9fc1caec8..000000000
--- a/apps/gps/mtk.h
+++ /dev/null
@@ -1,98 +0,0 @@
-/*
- * mtk.h
- *
- *  Created on: Mar 6, 2012
- *      Author: thomasgubler
- */
-
-#ifndef MTK_H_
-#define MTK_H_
-
-#include <stdint.h>
-#include <stdlib.h>
-#include <string.h>
-#include <stdio.h>
-#include <stdbool.h>
-#include <unistd.h>
-#include <pthread.h>
-
-//Definition for mtk custom mode
-#define MEDIATEK_REFRESH_RATE_4HZ "$PMTK220,250*29\r\n" //refresh rate - 4Hz - 250 milliseconds
-#define MEDIATEK_REFRESH_RATE_5HZ "$PMTK220,200*2C\r\n"
-#define MEDIATEK_REFRESH_RATE_10HZ "$PMTK220,100*2F\r\n" //refresh rate - 10Hz - 100 milliseconds
-#define MEDIATEK_FACTORY_RESET "$PMTK104*37\r\n" //clear current settings
-#define MEDIATEK_CUSTOM_BINARY_MODE "$PGCMD,16,0,0,0,0,0*6A\r\n"
-#define MEDIATEK_FULL_COLD_RESTART "$PMTK104*37\r\n"
-//#define NMEA_GGA_ENABLE "$PMTK314,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0*27\r\n" //Set GGA messages
-
-//definitions for watchdog
-#define MTK_WATCHDOG_CRITICAL_TIME_MICROSECONDS 2000000
-#define MTK_WATCHDOG_WAIT_TIME_MICROSECONDS 800000
-
-
-
-
-// ************
-// the structure of the binary packet
-
-typedef struct {
-	uint8_t payload; ///< Number of payload bytes
-	int32_t latitude;  ///< Latitude in degrees * 10^7
-	int32_t longitude; ///< Longitude in degrees * 10^7
-	uint32_t msl_altitude;  ///< MSL altitude in meters * 10^2
-	uint32_t ground_speed; ///< FIXME SPEC UNCLEAR
-	int32_t heading;
-	uint8_t satellites;
-	uint8_t fix_type;
-	uint32_t date;
-	uint32_t utc_time;
-	uint16_t hdop;
-	uint8_t ck_a;
-	uint8_t ck_b;
-}  __attribute__((__packed__)) type_gps_bin_mtk_packet;
-
-typedef type_gps_bin_mtk_packet gps_bin_mtk_packet_t;
-
-enum MTK_DECODE_STATES {
-	MTK_DECODE_UNINIT = 0,
-	MTK_DECODE_GOT_CK_A = 1,
-	MTK_DECODE_GOT_CK_B = 2
-};
-
-typedef struct {
-	union {
-		uint16_t ck;
-		struct {
-			uint8_t ck_a;
-			uint8_t ck_b;
-		};
-	};
-	uint8_t decode_state;
-//    bool new_data;
-//    uint8_t fix;
-	bool print_errors;
-	int16_t rx_count;
-
-	uint64_t last_message_timestamp;
-}  __attribute__((__packed__)) type_gps_bin_mtk_state;
-
-typedef type_gps_bin_mtk_state gps_bin_mtk_state_t;
-
-extern pthread_mutex_t *mtk_mutex;
-extern gps_bin_mtk_state_t *mtk_state;
-
-void mtk_decode_init(void);
-
-void mtk_checksum(uint8_t b, uint8_t *ck_a, uint8_t *ck_b);
-
-int mtk_parse(uint8_t b,  char *gps_rx_buffer);
-
-int read_gps_mtk(int *fd, char *gps_rx_buffer, int buffer_size);
-
-int configure_gps_mtk(int *fd);
-
-void *mtk_loop(void *args);
-
-void *mtk_watchdog_loop(void *args);
-
-#endif /* MTK_H_ */
diff --git a/apps/gps/nmea_helper.c b/apps/gps/nmea_helper.c
deleted file mode 100644
index 1a50371c1..000000000
--- a/apps/gps/nmea_helper.c
+++ /dev/null
@@ -1,345 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Julian Oes <joes@student.ethz.ch>
- *           Thomas Gubler <thomasgubler@student.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/* @file NMEA protocol implementation */
-#include "gps.h"
-#include "nmea_helper.h"
-#include <sys/prctl.h>
-#include <unistd.h>
-#include <poll.h>
-#include <fcntl.h>
-#include <unistd.h>
-#include <uORB/uORB.h>
-#include <uORB/topics/vehicle_gps_position.h>
-#include <mavlink/mavlink_log.h>
-#include <drivers/drv_hrt.h>
-
-#define NMEA_HEALTH_SUCCESS_COUNTER_LIMIT 2
-#define NMEA_HEALTH_FAIL_COUNTER_LIMIT 2
-
-#define NMEA_BUFFER_SIZE 1000
-
-pthread_mutex_t *nmea_mutex;
-gps_bin_nmea_state_t *nmea_state;
-static struct vehicle_gps_position_s *nmea_gps;
-
-extern bool gps_mode_try_all;
-extern bool gps_mode_success;
-extern bool terminate_gps_thread;
-extern bool gps_baud_try_all;
-extern bool gps_verbose;
-extern int current_gps_speed;
-
-
-int read_gps_nmea(int *fd, char *gps_rx_buffer, int buffer_size, nmeaINFO *info, nmeaPARSER *parser)
-{
-	int ret = 1;
-	char c;
-	int start_flag = 0;
-	int found_cr = 0;
-	int rx_count = 0;
-	int gpsRxOverflow = 0;
-
-	struct pollfd fds;
-	fds.fd = *fd;
-	fds.events = POLLIN;
-
-	// NMEA or SINGLE-SENTENCE GPS mode
-
-
-	while (1) {
-		//check if the thread should terminate
-		if (terminate_gps_thread == true) {
-//			printf("terminate_gps_thread=%u ", terminate_gps_thread);
-//			printf("exiting mtk thread\n");
-//			fflush(stdout);
-			ret = 2;
-			break;
-		}
-
-		if (poll(&fds, 1, 1000) > 0) {
-			if (read(*fd, &c, 1) > 0) {
-				// detect start while acquiring stream
-				//		printf("Char = %c\n", c);
-				if (!start_flag && (c == '$')) {
-					start_flag = 1;
-					found_cr = 0;
-					rx_count = 0;
-
-				} else if (!start_flag) { // keep looking for start sign
-					continue;
-				}
-
-				if (rx_count >= buffer_size) {
-					// The buffer is already full and we haven't found a valid NMEA sentence.
-					// Flush the buffer and note the overflow event.
-					gpsRxOverflow++;
-					start_flag = 0;
-					found_cr = 0;
-					rx_count = 0;
-
-					if (gps_verbose) printf("\t[gps] Buffer full\n");
-
-				} else {
-					// store chars in buffer
-					gps_rx_buffer[rx_count] = c;
-					rx_count++;
-				}
-
-				// look for carriage return CR
-				if (start_flag && c == 0x0d) {
-					found_cr = 1;
-				}
-
-				// and then look for line feed LF
-				if (start_flag && found_cr && c == 0x0a) {
-					// parse one NMEA line, use buffer up to rx_count
-					if (nmea_parse(parser, gps_rx_buffer, rx_count, info) > 0) {
-						ret = 0;
-					}
-
-					break;
-				}
-
-			} else {
-				break;
-			}
-
-		} else {
-			break;
-		}
-	}
-
-
-
-	// As soon as one NMEA message has been parsed, we break out of the loop and end here
-	return(ret);
-}
-
-
-/**
- * \brief Convert NDEG (NMEA degree) to fractional degree
- */
-float ndeg2degree(float val)
-{
-	float deg = ((int)(val / 100));
-	val = deg + (val - deg * 100) / 60;
-	return val;
-}
-
-void *nmea_loop(void *args)
-{
-	/* Set thread name */
-	prctl(PR_SET_NAME, "gps nmea read", getpid());
-
-	/* Retrieve file descriptor and thread flag */
-	struct arg_struct *arguments = (struct arg_struct *)args;
-	int *fd = arguments->fd_ptr;
-	bool *thread_should_exit = arguments->thread_should_exit_ptr;
-
-	/* Initialize gps stuff */
-	nmeaINFO info_d;
-	nmeaINFO *info = &info_d;
-	char gps_rx_buffer[NMEA_BUFFER_SIZE];
-
-	/* gps parser (nmea) */
-	nmeaPARSER parser;
-	nmea_parser_init(&parser);
-	nmea_zero_INFO(info);
-
-	/* advertise GPS topic */
-	struct vehicle_gps_position_s nmea_gps_d = {.counter=0};
-	nmea_gps = &nmea_gps_d;
-	orb_advert_t gps_handle = orb_advertise(ORB_ID(vehicle_gps_position), nmea_gps);
-
-	while (!(*thread_should_exit)) {
-		/* Parse a message from the gps receiver */
-		uint8_t read_res = read_gps_nmea(fd, gps_rx_buffer, NMEA_BUFFER_SIZE, info, &parser);
-
-		if (0 == read_res) {
-
-			/* convert data, ready it for publishing */
-
-			/* convert nmea utc time to usec */
-			struct tm timeinfo;
-			timeinfo.tm_year = info->utc.year;
-			timeinfo.tm_mon = info->utc.mon;
-			timeinfo.tm_mday = info->utc.day;
-			timeinfo.tm_hour = info->utc.hour;
-			timeinfo.tm_min = info->utc.min;
-			timeinfo.tm_sec = info->utc.sec;
-
-			time_t epoch = mktime(&timeinfo);
-
-			//			printf("%d.%d.%d %d:%d:%d:%d\n", timeinfo.tm_year, timeinfo.tm_mon, timeinfo.tm_mday, timeinfo.tm_hour, timeinfo.tm_min, timeinfo.tm_sec, info->utc.hsec);
-
-			nmea_gps->timestamp = hrt_absolute_time();
-			nmea_gps->time_gps_usec = (uint64_t)((epoch)*1000000 + (info->utc.hsec)*10000);
-			nmea_gps->fix_type = (uint8_t)info->fix;
-			nmea_gps->lat = (int32_t)(ndeg2degree(info->lat) * 1e7f);
-			nmea_gps->lon = (int32_t)(ndeg2degree(info->lon) * 1e7f);
-			nmea_gps->alt = (int32_t)(info->elv * 1000.0f);
-			nmea_gps->eph = (uint16_t)(info->HDOP * 100); //TODO:test scaling
-			nmea_gps->epv = (uint16_t)(info->VDOP * 100); //TODO:test scaling
-			nmea_gps->vel = (uint16_t)(info->speed * 1000 / 36); //*1000/3600*100
-			nmea_gps->cog = (uint16_t)info->direction*100; //nmea: degrees float, ubx/mavlink: degrees*1e2
-			nmea_gps->satellites_visible = (uint8_t)info->satinfo.inview;
-
-			int i = 0;
-
-			/* Write info about individual satellites */
-			for (i = 0; i < 12; i++) {
-				nmea_gps->satellite_prn[i] = (uint8_t)info->satinfo.sat[i].id;
-				nmea_gps->satellite_used[i] = (uint8_t)info->satinfo.sat[i].in_use;
-				nmea_gps->satellite_elevation[i] = (uint8_t)info->satinfo.sat[i].elv;
-				nmea_gps->satellite_azimuth[i] = (uint8_t)info->satinfo.sat[i].azimuth;
-				nmea_gps->satellite_snr[i] = (uint8_t)info->satinfo.sat[i].sig;
-			}
-
-			if (nmea_gps->satellites_visible > 0) {
-				nmea_gps->satellite_info_available = 1;
-
-			} else {
-				nmea_gps->satellite_info_available = 0;
-			}
-
-			nmea_gps->counter_pos_valid++;
-
-			nmea_gps->timestamp = hrt_absolute_time();
-			nmea_gps->counter++;
-
-			pthread_mutex_lock(nmea_mutex);
-			nmea_state->last_message_timestamp = hrt_absolute_time();
-			pthread_mutex_unlock(nmea_mutex);
-
-			/* publish new GPS position */
-			orb_publish(ORB_ID(vehicle_gps_position), gps_handle, nmea_gps);
-
-		} else if (read_res == 2) { //termination
-			/* de-advertise */
-			close(gps_handle);
-			break;
-		}
-
-	}
-
-	//destroy gps parser
-	nmea_parser_destroy(&parser);
-	if(gps_verbose) printf("[gps] nmea loop is going to terminate\n");
-	return NULL;
-
-}
-
-void *nmea_watchdog_loop(void *args)
-{
-	/* Set thread name */
-	prctl(PR_SET_NAME, "gps nmea watchdog", getpid());
-
-	bool nmea_healthy = false;
-
-	uint8_t nmea_fail_count = 0;
-	uint8_t nmea_success_count = 0;
-	bool once_ok = false;
-
-	/* Retrieve file descriptor and thread flag */
-	struct arg_struct *arguments = (struct arg_struct *)args;
-	//int *fd = arguments->fd_ptr;
-	bool *thread_should_exit = arguments->thread_should_exit_ptr;
-
-	int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
-
-	while (!(*thread_should_exit)) {
-//		printf("nmea_watchdog_loop : while ");
-		/* if we have no update for a long time print warning (in nmea mode there is no reconfigure) */
-		pthread_mutex_lock(nmea_mutex);
-		uint64_t timestamp_now = hrt_absolute_time();
-		bool all_okay = true;
-
-		if (timestamp_now - nmea_state->last_message_timestamp > NMEA_WATCHDOG_CRITICAL_TIME_MICROSECONDS) {
-			all_okay = false;
-		}
-
-		pthread_mutex_unlock(nmea_mutex);
-
-		if (!all_okay) {
-			/* gps error */
-			nmea_fail_count++;
-//			printf("nmea error, nmea_fail_count=%u\n", nmea_fail_count);
-//			fflush(stdout);
-
-			/* If we have too many failures and another mode or baud should be tried, exit... */
-			if ((gps_mode_try_all == true  || gps_baud_try_all == true) && (nmea_fail_count >= NMEA_HEALTH_FAIL_COUNTER_LIMIT) && (nmea_healthy == false) && once_ok == false) {
-				if (gps_verbose) printf("\t[gps] no NMEA module found\n");
-
-				gps_mode_success = false;
-				break;
-			}
-
-			if (nmea_healthy && nmea_fail_count >= NMEA_HEALTH_FAIL_COUNTER_LIMIT) {
-				printf("\t[gps] ERROR: NMEA GPS module stopped responding\n");
-				// global_data_send_subsystem_info(&nmea_present_enabled);
-				mavlink_log_critical(mavlink_fd, "[gps] NMEA module stopped responding\n");
-				nmea_healthy = false;
-				nmea_success_count = 0;
-
-			}
-
-
-
-			fflush(stdout);
-			sleep(1);
-
-		} else {
-			/* gps healthy */
-//			printf("\t[gps] nmea success\n");
-			nmea_success_count++;
-
-			if (!nmea_healthy && nmea_success_count >= NMEA_HEALTH_SUCCESS_COUNTER_LIMIT) {
-				printf("[gps] NMEA module found, status ok (baud=%d)\r\n", current_gps_speed);
-				// global_data_send_subsystem_info(&nmea_present_enabled_healthy);
-				mavlink_log_info(mavlink_fd, "[gps] NMEA module found, status ok\n");
-				nmea_healthy = true;
-				nmea_fail_count = 0;
-				once_ok = true;
-			}
-
-		}
-
-		usleep(NMEA_WATCHDOG_WAIT_TIME_MICROSECONDS);
-	}
-	if(gps_verbose) printf("[gps] nmea watchdog loop is going to terminate\n");
-	close(mavlink_fd);
-	return NULL;
-}
diff --git a/apps/gps/nmea_helper.h b/apps/gps/nmea_helper.h
deleted file mode 100644
index 3a853dd13..000000000
--- a/apps/gps/nmea_helper.h
+++ /dev/null
@@ -1,47 +0,0 @@
-/*
- * nmea_helper.h
- *
- *  Created on: Mar 15, 2012
- *      Author: thomasgubler
- */
-
-#ifndef NMEA_H_
-#define NMEA_H_
-
-#include <stdint.h>
-#include <stdlib.h>
-#include <string.h>
-#include <stdio.h>
-#include "nmealib/nmea/nmea.h"
-
-
-//definitions for watchdog
-#define NMEA_WATCHDOG_CRITICAL_TIME_MICROSECONDS 2000000
-#define NMEA_WATCHDOG_WAIT_TIME_MICROSECONDS 800000
-
-typedef struct {
-	uint64_t last_message_timestamp;
-}  __attribute__((__packed__)) type_gps_bin_nmea_state;
-
-typedef type_gps_bin_nmea_state gps_bin_nmea_state_t;
-
-extern gps_bin_nmea_state_t *nmea_state;
-extern pthread_mutex_t *nmea_mutex;
-
-
-
-int read_gps_nmea(int *fd, char *gps_rx_buffer, int buffer_size, nmeaINFO *info, nmeaPARSER *parser);
-
-void *nmea_loop(void *arg);
-
-void *nmea_watchdog_loop(void *arg);
-
-/**
- * \brief Convert NDEG (NMEA degree) to fractional degree
- */
-float ndeg2degree(float val);
-
-void nmea_init(void);
-
-
-#endif /* NMEA_H_ */
diff --git a/apps/gps/nmealib/LICENSE.TXT b/apps/gps/nmealib/LICENSE.TXT
deleted file mode 100644
index 807db7916..000000000
--- a/apps/gps/nmealib/LICENSE.TXT
+++ /dev/null
@@ -1,506 +0,0 @@
-		  GNU LESSER GENERAL PUBLIC LICENSE
-		       Version 2.1, February 1999
-
- Copyright (C) 1991, 1999 Free Software Foundation, Inc.
-     59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
- Everyone is permitted to copy and distribute verbatim copies
- of this license document, but changing it is not allowed.
-
-[This is the first released version of the Lesser GPL.  It also counts
- as the successor of the GNU Library Public License, version 2, hence
- the version number 2.1.]
-
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-this license or the ordinary General Public License is the better
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-  12. If the distribution and/or use of the Library is restricted in
-certain countries either by patents or by copyrighted interfaces, the
-original copyright holder who places the Library under this License may add
-an explicit geographical distribution limitation excluding those countries,
-so that distribution is permitted only in or among countries not thus
-excluded.  In such case, this License incorporates the limitation as if
-written in the body of this License.
-
-  13. The Free Software Foundation may publish revised and/or new
-versions of the Lesser General Public License from time to time.
-Such new versions will be similar in spirit to the present version,
-but may differ in detail to address new problems or concerns.
-
-Each version is given a distinguishing version number.  If the Library
-specifies a version number of this License which applies to it and
-"any later version", you have the option of following the terms and
-conditions either of that version or of any later version published by
-the Free Software Foundation.  If the Library does not specify a
-license version number, you may choose any version ever published by
-the Free Software Foundation.
-
-  14. If you wish to incorporate parts of the Library into other free
-programs whose distribution conditions are incompatible with these,
-write to the author to ask for permission.  For software which is
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-decision will be guided by the two goals of preserving the free status
-of all derivatives of our free software and of promoting the sharing
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-
-			    NO WARRANTY
-
-  15. BECAUSE THE LIBRARY IS LICENSED FREE OF CHARGE, THERE IS NO
-WARRANTY FOR THE LIBRARY, TO THE EXTENT PERMITTED BY APPLICABLE LAW.
-EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR
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-IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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-LIBRARY IS WITH YOU.  SHOULD THE LIBRARY PROVE DEFECTIVE, YOU ASSUME
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-  16. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN
-WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY
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-LIBRARY (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING
-RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A
-FAILURE OF THE LIBRARY TO OPERATE WITH ANY OTHER SOFTWARE), EVEN IF
-SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH
-DAMAGES.
-
-		     END OF TERMS AND CONDITIONS
-
-           How to Apply These Terms to Your New Libraries
-
-  If you develop a new library, and you want it to be of the greatest
-possible use to the public, we recommend making it free software that
-everyone can redistribute and change.  You can do so by permitting
-redistribution under these terms (or, alternatively, under the terms of the
-ordinary General Public License).
-
-  To apply these terms, attach the following notices to the library.  It is
-safest to attach them to the start of each source file to most effectively
-convey the exclusion of warranty; and each file should have at least the
-"copyright" line and a pointer to where the full notice is found.
-
-    <one line to give the library's name and a brief idea of what it does.>
-    Copyright (C) <year>  <name of author>
-
-    This library is free software; you can redistribute it and/or
-    modify it under the terms of the GNU Lesser General Public
-    License as published by the Free Software Foundation; either
-    version 2.1 of the License, or (at your option) any later version.
-
-    This library is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-    Lesser General Public License for more details.
-
-    You should have received a copy of the GNU Lesser General Public
-    License along with this library; if not, write to the Free Software
-    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
-
-Also add information on how to contact you by electronic and paper mail.
-
-You should also get your employer (if you work as a programmer) or your
-school, if any, to sign a "copyright disclaimer" for the library, if
-necessary.  Here is a sample; alter the names:
-
-  Yoyodyne, Inc., hereby disclaims all copyright interest in the
-  library `Frob' (a library for tweaking knobs) written by James Random Hacker.
-
-  <signature of Ty Coon>, 1 April 1990
-  Ty Coon, President of Vice
-
-That's all there is to it!
-
-
-
-
diff --git a/apps/gps/nmealib/README.TXT b/apps/gps/nmealib/README.TXT
deleted file mode 100644
index 8ede6a036..000000000
--- a/apps/gps/nmealib/README.TXT
+++ /dev/null
@@ -1,26 +0,0 @@
-NMEA library see: http://nmea.sourceforge.net/
-
-Disclaimer
-
-The National Marine Electronics Association (NMEA) has developed a specification that defines the interface between various pieces of marine electronic equipment. The standard permits marine electronics to send information to computers and to other marine equipment.
-Most computer programs that provide real time position information understand and expect data to be in NMEA format. This data includes the complete PVT (position, velocity, time) solution computed by the GPS receiver. The idea of NMEA is to send a line of data called a sentence that is totally self contained and independent from other sentences. All NMEA sentences is sequences of ACSII symbols begins with a '$' and ends with a carriage return/line feed sequence and can be no longer than 80 characters of visible text (plus the line terminators).
-
-Introduction
-
-We present library in 'C' programming language for work with NMEA protocol. Small and easy to use. The library build on different compilers under different platforms (see below). The code was tested in real projects. Just download and try...
-
-Features
-
-- Analysis NMEA sentences and granting GPS data in C structures
-- Generate NMEA sentences
-- Supported sentences: GPGGA, GPGSA, GPGSV, GPRMC, GPVTG
-- Multilevel architecture of algorithms
-- Additional functions of geographical mathematics and work with navigation data
-
-Supported (tested) platforms
-
-- Microsoft Windows (MS Visual Studio 8.0, GCC)
-- Windows Mobile, Windows CE (MS Visual Studio 8.0)
-- UNIX (GCC)
-
-Licence: LGPL
diff --git a/apps/gps/nmealib/context.c b/apps/gps/nmealib/context.c
deleted file mode 100644
index 6ee2f5ad3..000000000
--- a/apps/gps/nmealib/context.c
+++ /dev/null
@@ -1,67 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: context.c 17 2008-03-11 11:56:11Z xtimor $
- *
- */
-
-#include "nmea/context.h"
-
-#include <string.h>
-#include <stdarg.h>
-#include <stdio.h>
-
-nmeaPROPERTY * nmea_property(void)
-{
-    static nmeaPROPERTY prop = {
-        0, 0, NMEA_DEF_PARSEBUFF
-        };
-
-    return &prop;
-}
-
-void nmea_trace(const char *str, ...)
-{
-    int size;
-    va_list arg_list;
-    char buff[NMEA_DEF_PARSEBUFF];
-    nmeaTraceFunc func = nmea_property()->trace_func;
-
-    if(func)
-    {
-        va_start(arg_list, str);
-        size = NMEA_POSIX(vsnprintf)(&buff[0], NMEA_DEF_PARSEBUFF - 1, str, arg_list);
-        va_end(arg_list);
-
-        if(size > 0)
-            (*func)(&buff[0], size);
-    }
-}
-
-void nmea_trace_buff(const char *buff, int buff_size)
-{
-    nmeaTraceFunc func = nmea_property()->trace_func;
-    if(func && buff_size)
-        (*func)(buff, buff_size);
-}
-
-void nmea_error(const char *str, ...)
-{
-    int size;
-    va_list arg_list;
-    char buff[NMEA_DEF_PARSEBUFF];
-    nmeaErrorFunc func = nmea_property()->error_func;
-
-    if(func)
-    {
-        va_start(arg_list, str);
-        size = NMEA_POSIX(vsnprintf)(&buff[0], NMEA_DEF_PARSEBUFF - 1, str, arg_list);
-        va_end(arg_list);
-
-        if(size > 0)
-            (*func)(&buff[0], size);
-    }
-}
diff --git a/apps/gps/nmealib/generate.c b/apps/gps/nmealib/generate.c
deleted file mode 100644
index 4c9389300..000000000
--- a/apps/gps/nmealib/generate.c
+++ /dev/null
@@ -1,229 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: generate.c 17 2008-03-11 11:56:11Z xtimor $
- *
- */
-
-#include "nmea/tok.h"
-#include "nmea/sentence.h"
-#include "nmea/generate.h"
-#include "nmea/units.h"
-
-#include <string.h>
-#include <stdlib.h>
-#include <math.h>
-
-int nmea_gen_GPGGA(char *buff, int buff_sz, nmeaGPGGA *pack)
-{
-    return nmea_printf(buff, buff_sz,
-        "$GPGGA,%02d%02d%02d.%02d,%07.4f,%C,%07.4f,%C,%1d,%02d,%03.1f,%03.1f,%C,%03.1f,%C,%03.1f,%04d",
-        pack->utc.hour, pack->utc.min, pack->utc.sec, pack->utc.hsec,
-        pack->lat, pack->ns, pack->lon, pack->ew,
-        pack->sig, pack->satinuse, pack->HDOP, pack->elv, pack->elv_units,
-        pack->diff, pack->diff_units, pack->dgps_age, pack->dgps_sid);
-}
-
-int nmea_gen_GPGSA(char *buff, int buff_sz, nmeaGPGSA *pack)
-{
-    return nmea_printf(buff, buff_sz,
-        "$GPGSA,%C,%1d,%02d,%02d,%02d,%02d,%02d,%02d,%02d,%02d,%02d,%02d,%02d,%02d,%03.1f,%03.1f,%03.1f",
-        pack->fix_mode, pack->fix_type,
-        pack->sat_prn[0], pack->sat_prn[1], pack->sat_prn[2], pack->sat_prn[3], pack->sat_prn[4], pack->sat_prn[5],
-        pack->sat_prn[6], pack->sat_prn[7], pack->sat_prn[8], pack->sat_prn[9], pack->sat_prn[10], pack->sat_prn[11],
-        pack->PDOP, pack->HDOP, pack->VDOP);
-}
-
-int nmea_gen_GPGSV(char *buff, int buff_sz, nmeaGPGSV *pack)
-{
-    return nmea_printf(buff, buff_sz,
-        "$GPGSV,%1d,%1d,%02d,"
-        "%02d,%02d,%03d,%02d,"
-        "%02d,%02d,%03d,%02d,"
-        "%02d,%02d,%03d,%02d,"
-        "%02d,%02d,%03d,%02d",
-        pack->pack_count, pack->pack_index + 1, pack->sat_count,
-        pack->sat_data[0].id, pack->sat_data[0].elv, pack->sat_data[0].azimuth, pack->sat_data[0].sig,
-        pack->sat_data[1].id, pack->sat_data[1].elv, pack->sat_data[1].azimuth, pack->sat_data[1].sig,
-        pack->sat_data[2].id, pack->sat_data[2].elv, pack->sat_data[2].azimuth, pack->sat_data[2].sig,
-        pack->sat_data[3].id, pack->sat_data[3].elv, pack->sat_data[3].azimuth, pack->sat_data[3].sig);
-}
-
-int nmea_gen_GPRMC(char *buff, int buff_sz, nmeaGPRMC *pack)
-{
-    return nmea_printf(buff, buff_sz,
-        "$GPRMC,%02d%02d%02d.%02d,%C,%07.4f,%C,%07.4f,%C,%03.1f,%03.1f,%02d%02d%02d,%03.1f,%C,%C",
-        pack->utc.hour, pack->utc.min, pack->utc.sec, pack->utc.hsec,
-        pack->status, pack->lat, pack->ns, pack->lon, pack->ew,
-        pack->speed, pack->direction,
-        pack->utc.day, pack->utc.mon + 1, pack->utc.year - 100,
-        pack->declination, pack->declin_ew, pack->mode);
-}
-
-int nmea_gen_GPVTG(char *buff, int buff_sz, nmeaGPVTG *pack)
-{
-    return nmea_printf(buff, buff_sz,
-        "$GPVTG,%.1f,%C,%.1f,%C,%.1f,%C,%.1f,%C",
-        pack->dir, pack->dir_t,
-        pack->dec, pack->dec_m,
-        pack->spn, pack->spn_n,
-        pack->spk, pack->spk_k);
-}
-
-void nmea_info2GPGGA(const nmeaINFO *info, nmeaGPGGA *pack)
-{
-    nmea_zero_GPGGA(pack);
-
-    pack->utc = info->utc;
-    pack->lat = fabs(info->lat);
-    pack->ns = ((info->lat > 0)?'N':'S');
-    pack->lon = fabs(info->lon);
-    pack->ew = ((info->lon > 0)?'E':'W');
-    pack->sig = info->sig;
-    pack->satinuse = info->satinfo.inuse;
-    pack->HDOP = info->HDOP;
-    pack->elv = info->elv;
-}
-
-void nmea_info2GPGSA(const nmeaINFO *info, nmeaGPGSA *pack)
-{
-    int it;
-
-    nmea_zero_GPGSA(pack);
-
-    pack->fix_type = info->fix;
-    pack->PDOP = info->PDOP;
-    pack->HDOP = info->HDOP;
-    pack->VDOP = info->VDOP;
-
-    for(it = 0; it < NMEA_MAXSAT; ++it)
-    {
-        pack->sat_prn[it] =
-            ((info->satinfo.sat[it].in_use)?info->satinfo.sat[it].id:0);
-    }
-}
-
-int nmea_gsv_npack(int sat_count)
-{
-    int pack_count = (int)ceil(((float)sat_count) / NMEA_SATINPACK);
-
-    if(0 == pack_count)
-        pack_count = 1;
-
-    return pack_count;
-}
-
-void nmea_info2GPGSV(const nmeaINFO *info, nmeaGPGSV *pack, int pack_idx)
-{
-    int sit, pit;
-
-    nmea_zero_GPGSV(pack);
-
-    pack->sat_count = (info->satinfo.inview <= NMEA_MAXSAT)?info->satinfo.inview:NMEA_MAXSAT;
-    pack->pack_count = nmea_gsv_npack(pack->sat_count);
-
-    if(pack->pack_count == 0)
-        pack->pack_count = 1;
-
-    if(pack_idx >= pack->pack_count)
-        pack->pack_index = pack_idx % pack->pack_count;
-    else
-        pack->pack_index = pack_idx;
-
-    for(pit = 0, sit = pack->pack_index * NMEA_SATINPACK; pit < NMEA_SATINPACK; ++pit, ++sit)
-        pack->sat_data[pit] = info->satinfo.sat[sit];
-}
-
-void nmea_info2GPRMC(const nmeaINFO *info, nmeaGPRMC *pack)
-{
-    nmea_zero_GPRMC(pack);
-
-    pack->utc = info->utc;
-    pack->status = ((info->sig > 0)?'A':'V');
-    pack->lat = fabs(info->lat);
-    pack->ns = ((info->lat > 0)?'N':'S');
-    pack->lon = fabs(info->lon);
-    pack->ew = ((info->lon > 0)?'E':'W');
-    pack->speed = info->speed / NMEA_TUD_KNOTS;
-    pack->direction = info->direction;
-    pack->declination = info->declination;
-    pack->declin_ew = 'E';
-    pack->mode = ((info->sig > 0)?'A':'N');
-}
-
-void nmea_info2GPVTG(const nmeaINFO *info, nmeaGPVTG *pack)
-{
-    nmea_zero_GPVTG(pack);
-
-    pack->dir = info->direction;
-    pack->dec = info->declination;
-    pack->spn = info->speed / NMEA_TUD_KNOTS;
-    pack->spk = info->speed;
-}
-
-int nmea_generate(
-    char *buff, int buff_sz,
-    const nmeaINFO *info,
-    int generate_mask
-    )
-{
-    int gen_count = 0, gsv_it, gsv_count;
-    int pack_mask = generate_mask;
-
-    nmeaGPGGA gga;
-    nmeaGPGSA gsa;
-    nmeaGPGSV gsv;
-    nmeaGPRMC rmc;
-    nmeaGPVTG vtg;
-
-    if(!buff)
-        return 0;
-
-    while(pack_mask)
-    {
-        if(pack_mask & GPGGA)
-        {
-            nmea_info2GPGGA(info, &gga);
-            gen_count += nmea_gen_GPGGA(buff + gen_count, buff_sz - gen_count, &gga);
-            pack_mask &= ~GPGGA;
-        }
-        else if(pack_mask & GPGSA)
-        {
-            nmea_info2GPGSA(info, &gsa);
-            gen_count += nmea_gen_GPGSA(buff + gen_count, buff_sz - gen_count, &gsa);
-            pack_mask &= ~GPGSA;
-        }
-        else if(pack_mask & GPGSV)
-        {
-            gsv_count = nmea_gsv_npack(info->satinfo.inview);
-            for(gsv_it = 0; gsv_it < gsv_count && buff_sz - gen_count > 0; ++gsv_it)
-            {
-                nmea_info2GPGSV(info, &gsv, gsv_it);
-                gen_count += nmea_gen_GPGSV(buff + gen_count, buff_sz - gen_count, &gsv);
-            }
-            pack_mask &= ~GPGSV;
-        }
-        else if(pack_mask & GPRMC)
-        {
-            nmea_info2GPRMC(info, &rmc);
-            gen_count += nmea_gen_GPRMC(buff + gen_count, buff_sz - gen_count, &rmc);
-            pack_mask &= ~GPRMC;
-        }
-        else if(pack_mask & GPVTG)
-        {
-            nmea_info2GPVTG(info, &vtg);
-            gen_count += nmea_gen_GPVTG(buff + gen_count, buff_sz - gen_count, &vtg);
-            pack_mask &= ~GPVTG;
-        }
-        else
-            break;
-
-        if(buff_sz - gen_count <= 0)
-            break;
-    }
-
-    return gen_count;
-}
diff --git a/apps/gps/nmealib/generator.c b/apps/gps/nmealib/generator.c
deleted file mode 100644
index ce40b0f1a..000000000
--- a/apps/gps/nmealib/generator.c
+++ /dev/null
@@ -1,399 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: generator.c 17 2008-03-11 11:56:11Z xtimor $
- *
- */
-
-#include "nmea/gmath.h"
-#include "nmea/generate.h"
-#include "nmea/generator.h"
-#include "nmea/context.h"
-
-#include <string.h>
-#include <stdlib.h>
-
-#if defined(NMEA_WIN) && defined(_MSC_VER)
-# pragma warning(disable: 4100) /* unreferenced formal parameter */
-#endif
-
-float nmea_random(float min, float max)
-{
-    static float rand_max = MAX_RAND;//RAND_MAX; //nuttx defines MAX_RAND instead of RAND_MAX
-    float rand_val = rand();
-    float bounds = max - min;
-    return min + (rand_val * bounds) / rand_max;
-}
-
-/*
- * low level
- */
-
-int nmea_gen_init(nmeaGENERATOR *gen, nmeaINFO *info)
-{
-    int RetVal = 1; int smask = info->smask;
-    nmeaGENERATOR *igen = gen;
-
-    nmea_zero_INFO(info);
-    info->smask = smask;
-
-    info->lat = NMEA_DEF_LAT;
-    info->lon = NMEA_DEF_LON;
-
-    while(RetVal && igen)
-    {
-        if(igen->init_call)
-            RetVal = (*igen->init_call)(igen, info);
-        igen = igen->next;
-    }
-
-    return RetVal;
-}
-
-int nmea_gen_loop(nmeaGENERATOR *gen, nmeaINFO *info)
-{
-    int RetVal = 1;
-
-    if(gen->loop_call)
-        RetVal = (*gen->loop_call)(gen, info);
-
-    if(RetVal && gen->next)
-        RetVal = nmea_gen_loop(gen->next, info);
-
-    return RetVal;
-}
-
-int nmea_gen_reset(nmeaGENERATOR *gen, nmeaINFO *info)
-{
-    int RetVal = 1;
-
-    if(gen->reset_call)
-        RetVal = (*gen->reset_call)(gen, info);
-
-    return RetVal;
-}
-
-void nmea_gen_destroy(nmeaGENERATOR *gen)
-{
-    if(gen->next)
-    {
-        nmea_gen_destroy(gen->next);
-        gen->next = 0;
-    }
-
-    if(gen->destroy_call)
-        (*gen->destroy_call)(gen);
-
-    free(gen);
-}
-
-void nmea_gen_add(nmeaGENERATOR *to, nmeaGENERATOR *gen)
-{
-    if(to->next)
-        nmea_gen_add(to->next, gen);
-    else
-        to->next = gen;
-}
-
-int nmea_generate_from(
-    char *buff, int buff_sz,
-    nmeaINFO *info,
-    nmeaGENERATOR *gen,
-    int generate_mask
-    )
-{
-    int retval;
-
-    if(0 != (retval = nmea_gen_loop(gen, info)))
-        retval = nmea_generate(buff, buff_sz, info, generate_mask);
-
-    return retval;
-}
-
-/*
- * NOISE generator
- */
-
-int nmea_igen_noise_init(nmeaGENERATOR *gen, nmeaINFO *info)
-{
-    return 1;
-}
-
-int nmea_igen_noise_loop(nmeaGENERATOR *gen, nmeaINFO *info)
-{
-    int it;
-    int in_use;
-
-    info->sig = (int)nmea_random(1, 3);
-    info->PDOP = nmea_random(0, 9);
-    info->HDOP = nmea_random(0, 9);
-    info->VDOP = nmea_random(0, 9);
-    info->fix = (int)nmea_random(2, 3);
-    info->lat = nmea_random(0, 100);
-    info->lon = nmea_random(0, 100);
-    info->speed = nmea_random(0, 100);
-    info->direction = nmea_random(0, 360);
-    info->declination = nmea_random(0, 360);
-    info->elv = (int)nmea_random(-100, 100);
-
-    info->satinfo.inuse = 0;
-    info->satinfo.inview = 0;
-
-    for(it = 0; it < 12; ++it)
-    {
-        info->satinfo.sat[it].id = it;
-        info->satinfo.sat[it].in_use = in_use = (int)nmea_random(0, 3);
-        info->satinfo.sat[it].elv = (int)nmea_random(0, 90);
-        info->satinfo.sat[it].azimuth = (int)nmea_random(0, 359);
-        info->satinfo.sat[it].sig = (int)(in_use?nmea_random(40, 99):nmea_random(0, 40));
-
-        if(in_use)
-            info->satinfo.inuse++;
-        if(info->satinfo.sat[it].sig > 0)
-            info->satinfo.inview++;
-    }
-
-    return 1;
-}
-
-int nmea_igen_noise_reset(nmeaGENERATOR *gen, nmeaINFO *info)
-{
-    return 1;
-}
-
-/*
- * STATIC generator
- */
-
-int nmea_igen_static_loop(nmeaGENERATOR *gen, nmeaINFO *info)
-{
-    nmea_time_now(&info->utc);
-    return 1;
-};
-
-int nmea_igen_static_reset(nmeaGENERATOR *gen, nmeaINFO *info)
-{
-    info->satinfo.inuse = 4;
-    info->satinfo.inview = 4;
-
-    info->satinfo.sat[0].id = 1;
-    info->satinfo.sat[0].in_use = 1;
-    info->satinfo.sat[0].elv = 50;
-    info->satinfo.sat[0].azimuth = 0;
-    info->satinfo.sat[0].sig = 99;
-
-    info->satinfo.sat[1].id = 2;
-    info->satinfo.sat[1].in_use = 1;
-    info->satinfo.sat[1].elv = 50;
-    info->satinfo.sat[1].azimuth = 90;
-    info->satinfo.sat[1].sig = 99;
-
-    info->satinfo.sat[2].id = 3;
-    info->satinfo.sat[2].in_use = 1;
-    info->satinfo.sat[2].elv = 50;
-    info->satinfo.sat[2].azimuth = 180;
-    info->satinfo.sat[2].sig = 99;
-
-    info->satinfo.sat[3].id = 4;
-    info->satinfo.sat[3].in_use = 1;
-    info->satinfo.sat[3].elv = 50;
-    info->satinfo.sat[3].azimuth = 270;
-    info->satinfo.sat[3].sig = 99;
-
-    return 1;
-}
-
-int nmea_igen_static_init(nmeaGENERATOR *gen, nmeaINFO *info)
-{
-    info->sig = 3;
-    info->fix = 3;
-
-    nmea_igen_static_reset(gen, info);
-
-    return 1;
-}
-
-/*
- * SAT_ROTATE generator
- */
-
-int nmea_igen_rotate_loop(nmeaGENERATOR *gen, nmeaINFO *info)
-{
-    int it;
-    int count = info->satinfo.inview;
-    float deg = 360 / (count?count:1);
-    float srt = (count?(info->satinfo.sat[0].azimuth):0) + 5;
-
-    nmea_time_now(&info->utc);
-
-    for(it = 0; it < count; ++it)
-    {
-        info->satinfo.sat[it].azimuth =
-            (int)((srt >= 360)?srt - 360:srt);
-        srt += deg;
-    }
-
-    return 1;
-};
-
-int nmea_igen_rotate_reset(nmeaGENERATOR *gen, nmeaINFO *info)
-{
-    int it;
-    float deg = 360 / 8;
-    float srt = 0;
-
-    info->satinfo.inuse = 8;
-    info->satinfo.inview = 8;
-
-    for(it = 0; it < info->satinfo.inview; ++it)
-    {
-        info->satinfo.sat[it].id = it + 1;
-        info->satinfo.sat[it].in_use = 1;
-        info->satinfo.sat[it].elv = 5;
-        info->satinfo.sat[it].azimuth = (int)srt;
-        info->satinfo.sat[it].sig = 80;
-        srt += deg;
-    }
-
-    return 1;
-}
-
-int nmea_igen_rotate_init(nmeaGENERATOR *gen, nmeaINFO *info)
-{
-    info->sig = 3;
-    info->fix = 3;
-
-    nmea_igen_rotate_reset(gen, info);
-
-    return 1;
-}
-
-/*
- * POS_RANDMOVE generator
- */
-
-int nmea_igen_pos_rmove_init(nmeaGENERATOR *gen, nmeaINFO *info)
-{    
-    info->sig = 3;
-    info->fix = 3;
-    info->direction = info->declination = 0;
-    info->speed = 20;
-    return 1;
-}
-
-int nmea_igen_pos_rmove_loop(nmeaGENERATOR *gen, nmeaINFO *info)
-{
-    nmeaPOS crd;
-
-    info->direction += nmea_random(-10, 10);
-    info->speed += nmea_random(-2, 3);
-
-    if(info->direction < 0)
-        info->direction = 359 + info->direction;
-    if(info->direction > 359)
-        info->direction -= 359;
-
-    if(info->speed > 40)
-        info->speed = 40;
-    if(info->speed < 1)
-        info->speed = 1;
-
-    nmea_info2pos(info, &crd);
-    nmea_move_horz(&crd, &crd, info->direction, info->speed / 3600);
-    nmea_pos2info(&crd, info);
-
-    info->declination = info->direction;
-
-    return 1;
-};
-
-int nmea_igen_pos_rmove_destroy(nmeaGENERATOR *gen)
-{
-    return 1;
-};
-
-/*
- * generator create
- */
-
-nmeaGENERATOR * __nmea_create_generator(int type, nmeaINFO *info)
-{
-    nmeaGENERATOR *gen = 0;
-
-    switch(type)
-    {
-    case NMEA_GEN_NOISE:
-        if(0 == (gen = malloc(sizeof(nmeaGENERATOR))))
-            nmea_error("Insufficient memory!");
-        else
-        {
-            memset(gen, 0, sizeof(nmeaGENERATOR));
-            gen->init_call = &nmea_igen_noise_init;
-            gen->loop_call = &nmea_igen_noise_loop;
-            gen->reset_call = &nmea_igen_noise_reset;
-        }
-        break;
-    case NMEA_GEN_STATIC:
-    case NMEA_GEN_SAT_STATIC:
-        if(0 == (gen = malloc(sizeof(nmeaGENERATOR))))
-            nmea_error("Insufficient memory!");
-        else
-        {
-            memset(gen, 0, sizeof(nmeaGENERATOR));
-            gen->init_call = &nmea_igen_static_init;
-            gen->loop_call = &nmea_igen_static_loop;
-            gen->reset_call = &nmea_igen_static_reset;
-        }
-        break;
-    case NMEA_GEN_SAT_ROTATE:
-        if(0 == (gen = malloc(sizeof(nmeaGENERATOR))))
-            nmea_error("Insufficient memory!");
-        else
-        {
-            memset(gen, 0, sizeof(nmeaGENERATOR));
-            gen->init_call = &nmea_igen_rotate_init;
-            gen->loop_call = &nmea_igen_rotate_loop;
-            gen->reset_call = &nmea_igen_rotate_reset;
-        }
-        break;
-    case NMEA_GEN_POS_RANDMOVE:
-        if(0 == (gen = malloc(sizeof(nmeaGENERATOR))))
-            nmea_error("Insufficient memory!");
-        else
-        {
-            memset(gen, 0, sizeof(nmeaGENERATOR));
-            gen->init_call = &nmea_igen_pos_rmove_init;
-            gen->loop_call = &nmea_igen_pos_rmove_loop;
-            gen->destroy_call = &nmea_igen_pos_rmove_destroy;
-        }
-        break;
-    case NMEA_GEN_ROTATE:
-        gen = __nmea_create_generator(NMEA_GEN_SAT_ROTATE, info);
-        nmea_gen_add(gen, __nmea_create_generator(NMEA_GEN_POS_RANDMOVE, info));
-        break;
-    };
-
-    return gen;
-}
-
-nmeaGENERATOR * nmea_create_generator(int type, nmeaINFO *info)
-{
-    nmeaGENERATOR *gen = __nmea_create_generator(type, info);
-
-    if(gen)
-        nmea_gen_init(gen, info);
-
-    return gen;
-}
-
-void nmea_destroy_generator(nmeaGENERATOR *gen)
-{
-    nmea_gen_destroy(gen);
-}
-
-#if defined(NMEA_WIN) && defined(_MSC_VER)
-# pragma warning(default: 4100)
-#endif
diff --git a/apps/gps/nmealib/gmath.c b/apps/gps/nmealib/gmath.c
deleted file mode 100644
index 327b982ef..000000000
--- a/apps/gps/nmealib/gmath.c
+++ /dev/null
@@ -1,376 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: gmath.c 17 2008-03-11 11:56:11Z xtimor $
- *
- */
-
-/*! \file gmath.h */
-#include "nmea/gmath.h"
-
-#include <math.h>
-#include <float.h>
-
-/**
- * \fn nmea_degree2radian
- * \brief Convert degree to radian
- */
-float nmea_degree2radian(float val)
-{ return (val * NMEA_PI180); }
-
-/**
- * \fn nmea_radian2degree
- * \brief Convert radian to degree
- */
-float nmea_radian2degree(float val)
-{ return (val / NMEA_PI180); }
-
-/**
- * \brief Convert NDEG (NMEA degree) to fractional degree
- */
-float nmea_ndeg2degree(float val)
-{
-    float deg = ((int)(val / 100));
-    val = deg + (val - deg * 100) / 60;
-    return val;
-}
-
-/**
- * \brief Convert fractional degree to NDEG (NMEA degree)
- */
-float nmea_degree2ndeg(float val)
-{
-    float int_part;
-    float fra_part;
-    fra_part = modf(val, &int_part);
-    val = int_part * 100 + fra_part * 60;
-    return val;
-}
-
-/**
- * \fn nmea_ndeg2radian
- * \brief Convert NDEG (NMEA degree) to radian
- */
-float nmea_ndeg2radian(float val)
-{ return nmea_degree2radian(nmea_ndeg2degree(val)); }
-
-/**
- * \fn nmea_radian2ndeg
- * \brief Convert radian to NDEG (NMEA degree)
- */
-float nmea_radian2ndeg(float val)
-{ return nmea_degree2ndeg(nmea_radian2degree(val)); }
-
-/**
- * \brief Calculate PDOP (Position Dilution Of Precision) factor
- */
-float nmea_calc_pdop(float hdop, float vdop)
-{
-    return sqrt(pow(hdop, 2) + pow(vdop, 2));
-}
-
-float nmea_dop2meters(float dop)
-{ return (dop * NMEA_DOP_FACTOR); }
-
-float nmea_meters2dop(float meters)
-{ return (meters / NMEA_DOP_FACTOR); }
-
-/**
- * \brief Calculate distance between two points
- * \return Distance in meters
- */
-float nmea_distance(
-        const nmeaPOS *from_pos,    /**< From position in radians */
-        const nmeaPOS *to_pos       /**< To position in radians */
-        )
-{
-    float dist = ((float)NMEA_EARTHRADIUS_M) * acos(
-        sin(to_pos->lat) * sin(from_pos->lat) +
-        cos(to_pos->lat) * cos(from_pos->lat) * cos(to_pos->lon - from_pos->lon)
-        );
-    return dist;
-}
-
-/**
- * \brief Calculate distance between two points
- * This function uses an algorithm for an oblate spheroid earth model.
- * The algorithm is described here: 
- * http://www.ngs.noaa.gov/PUBS_LIB/inverse.pdf
- * \return Distance in meters
- */
-float nmea_distance_ellipsoid(
-        const nmeaPOS *from_pos,    /**< From position in radians */
-        const nmeaPOS *to_pos,      /**< To position in radians */
-        float *from_azimuth,       /**< (O) azimuth at "from" position in radians */
-        float *to_azimuth          /**< (O) azimuth at "to" position in radians */
-        )
-{
-    /* All variables */
-    float f, a, b, sqr_a, sqr_b;
-    float L, phi1, phi2, U1, U2, sin_U1, sin_U2, cos_U1, cos_U2;
-    float sigma, sin_sigma, cos_sigma, cos_2_sigmam, sqr_cos_2_sigmam, sqr_cos_alpha, lambda, sin_lambda, cos_lambda, delta_lambda;
-    int remaining_steps; 
-    float sqr_u, A, B, delta_sigma;
-
-    /* Check input */
-    //NMEA_ASSERT(from_pos != 0);
-    //NMEA_ASSERT(to_pos != 0);
-
-    if ((from_pos->lat == to_pos->lat) && (from_pos->lon == to_pos->lon))
-    { /* Identical points */
-        if ( from_azimuth != 0 )
-            *from_azimuth = 0;
-        if ( to_azimuth != 0 )
-            *to_azimuth = 0;
-        return 0;    
-    } /* Identical points */
-
-    /* Earth geometry */
-    f = NMEA_EARTH_FLATTENING;
-    a = NMEA_EARTH_SEMIMAJORAXIS_M;
-    b = (1 - f) * a;
-    sqr_a = a * a;
-    sqr_b = b * b;
-
-    /* Calculation */
-    L = to_pos->lon - from_pos->lon;
-    phi1 = from_pos->lat;
-    phi2 = to_pos->lat;
-    U1 = atan((1 - f) * tan(phi1));
-    U2 = atan((1 - f) * tan(phi2));
-    sin_U1 = sin(U1);
-    sin_U2 = sin(U2);
-    cos_U1 = cos(U1);
-    cos_U2 = cos(U2);
-
-    /* Initialize iteration */
-    sigma = 0;
-    sin_sigma = sin(sigma);
-    cos_sigma = cos(sigma);
-    cos_2_sigmam = 0;
-    sqr_cos_2_sigmam = cos_2_sigmam * cos_2_sigmam;
-    sqr_cos_alpha = 0;
-    lambda = L;
-    sin_lambda = sin(lambda);                            
-    cos_lambda = cos(lambda);                       
-    delta_lambda = lambda;
-    remaining_steps = 20; 
-
-    while ((delta_lambda > 1e-12) && (remaining_steps > 0)) 
-    { /* Iterate */
-        /* Variables */
-        float tmp1, tmp2, tan_sigma, sin_alpha, cos_alpha, C, lambda_prev;
-
-        /* Calculation */
-        tmp1 = cos_U2 * sin_lambda;
-        tmp2 = cos_U1 * sin_U2 - sin_U1 * cos_U2 * cos_lambda;  
-        sin_sigma = sqrt(tmp1 * tmp1 + tmp2 * tmp2);                
-        cos_sigma = sin_U1 * sin_U2 + cos_U1 * cos_U2 * cos_lambda;   
-        tan_sigma = sin_sigma / cos_sigma;                  
-        sin_alpha = cos_U1 * cos_U2 * sin_lambda / sin_sigma;  
-        cos_alpha = cos(asin(sin_alpha));                 
-        sqr_cos_alpha = cos_alpha * cos_alpha;                     
-        cos_2_sigmam = cos_sigma - 2 * sin_U1 * sin_U2 / sqr_cos_alpha;
-        sqr_cos_2_sigmam = cos_2_sigmam * cos_2_sigmam; 
-        C = f / 16 * sqr_cos_alpha * (4 + f * (4 - 3 * sqr_cos_alpha));
-        lambda_prev = lambda; 
-        sigma = asin(sin_sigma); 
-        lambda = L + 
-            (1 - C) * f * sin_alpha
-            * (sigma + C * sin_sigma * (cos_2_sigmam + C * cos_sigma * (-1 + 2 * sqr_cos_2_sigmam)));                                                
-        delta_lambda = lambda_prev - lambda; 
-        if ( delta_lambda < 0 ) delta_lambda = -delta_lambda; 
-        sin_lambda = sin(lambda);
-        cos_lambda = cos(lambda);
-        remaining_steps--; 
-    }  /* Iterate */
-
-    /* More calculation  */
-    sqr_u = sqr_cos_alpha * (sqr_a - sqr_b) / sqr_b; 
-    A = 1 + sqr_u / 16384 * (4096 + sqr_u * (-768 + sqr_u * (320 - 175 * sqr_u)));
-    B = sqr_u / 1024 * (256 + sqr_u * (-128 + sqr_u * (74 - 47 * sqr_u)));
-    delta_sigma = B * sin_sigma * ( 
-        cos_2_sigmam + B / 4 * ( 
-        cos_sigma * (-1 + 2 * sqr_cos_2_sigmam) -
-        B / 6 * cos_2_sigmam * (-3 + 4 * sin_sigma * sin_sigma) * (-3 + 4 * sqr_cos_2_sigmam)
-        ));
-
-    /* Calculate result */
-    if ( from_azimuth != 0 )
-    {
-        float tan_alpha_1 = cos_U2 * sin_lambda / (cos_U1 * sin_U2 - sin_U1 * cos_U2 * cos_lambda);
-        *from_azimuth = atan(tan_alpha_1);
-    }
-    if ( to_azimuth != 0 )
-    {
-        float tan_alpha_2 = cos_U1 * sin_lambda / (-sin_U1 * cos_U2 + cos_U1 * sin_U2 * cos_lambda);
-        *to_azimuth = atan(tan_alpha_2);
-    }
-
-    return b * A * (sigma - delta_sigma);
-}
-
-/**
- * \brief Horizontal move of point position
- */
-int nmea_move_horz(
-    const nmeaPOS *start_pos,   /**< Start position in radians */
-    nmeaPOS *end_pos,           /**< Result position in radians */
-    float azimuth,             /**< Azimuth (degree) [0, 359] */
-    float distance             /**< Distance (km) */
-    )
-{
-    nmeaPOS p1 = *start_pos;
-    int RetVal = 1;
-
-    distance /= NMEA_EARTHRADIUS_KM; /* Angular distance covered on earth's surface */
-    azimuth = nmea_degree2radian(azimuth);
-
-    end_pos->lat = asin(
-        sin(p1.lat) * cos(distance) + cos(p1.lat) * sin(distance) * cos(azimuth));
-    end_pos->lon = p1.lon + atan2(
-        sin(azimuth) * sin(distance) * cos(p1.lat), cos(distance) - sin(p1.lat) * sin(end_pos->lat));
-
-    if(NMEA_POSIX(isnan)(end_pos->lat) || NMEA_POSIX(isnan)(end_pos->lon))
-    {
-        end_pos->lat = 0; end_pos->lon = 0;
-        RetVal = 0;
-    }
-
-    return RetVal;
-}
-
-/**
- * \brief Horizontal move of point position
- * This function uses an algorithm for an oblate spheroid earth model.
- * The algorithm is described here: 
- * http://www.ngs.noaa.gov/PUBS_LIB/inverse.pdf
- */
-int nmea_move_horz_ellipsoid(
-    const nmeaPOS *start_pos,   /**< Start position in radians */
-    nmeaPOS *end_pos,           /**< (O) Result position in radians */
-    float azimuth,             /**< Azimuth in radians */
-    float distance,            /**< Distance (km) */
-    float *end_azimuth         /**< (O) Azimuth at end position in radians */
-    )
-{
-    /* Variables */
-    float f, a, b, sqr_a, sqr_b;
-    float phi1, tan_U1, sin_U1, cos_U1, s, alpha1, sin_alpha1, cos_alpha1;
-    float tan_sigma1, sigma1, sin_alpha, cos_alpha, sqr_cos_alpha, sqr_u, A, B;
-    float sigma_initial, sigma, sigma_prev, sin_sigma, cos_sigma, cos_2_sigmam, sqr_cos_2_sigmam, delta_sigma;
-    int remaining_steps;
-    float tmp1, phi2, lambda, C, L;
-    
-    /* Check input */
-    //NMEA_ASSERT(start_pos != 0);
-    //NMEA_ASSERT(end_pos != 0);
-    
-    if (fabs(distance) < 1e-12)
-    { /* No move */
-        *end_pos = *start_pos;
-        if ( end_azimuth != 0 ) *end_azimuth = azimuth;
-        return ! (NMEA_POSIX(isnan)(end_pos->lat) || NMEA_POSIX(isnan)(end_pos->lon));
-    } /* No move */
-
-    /* Earth geometry */
-    f = NMEA_EARTH_FLATTENING;
-    a = NMEA_EARTH_SEMIMAJORAXIS_M;
-    b = (1 - f) * a;
-    sqr_a = a * a;
-    sqr_b = b * b;
-    
-    /* Calculation */
-    phi1 = start_pos->lat;
-    tan_U1 = (1 - f) * tan(phi1);
-    cos_U1 = 1 / sqrt(1 + tan_U1 * tan_U1);
-    sin_U1 = tan_U1 * cos_U1;
-    s = distance;
-    alpha1 = azimuth;
-    sin_alpha1 = sin(alpha1);
-    cos_alpha1 = cos(alpha1);
-    tan_sigma1 = tan_U1 / cos_alpha1;
-    sigma1 = atan2(tan_U1, cos_alpha1);
-    sin_alpha = cos_U1 * sin_alpha1;
-    sqr_cos_alpha = 1 - sin_alpha * sin_alpha;
-    cos_alpha = sqrt(sqr_cos_alpha);
-    sqr_u = sqr_cos_alpha * (sqr_a - sqr_b) / sqr_b; 
-    A = 1 + sqr_u / 16384 * (4096 + sqr_u * (-768 + sqr_u * (320 - 175 * sqr_u)));
-    B = sqr_u / 1024 * (256 + sqr_u * (-128 + sqr_u * (74 - 47 * sqr_u)));
-    
-    /* Initialize iteration */
-    sigma_initial = s / (b * A);
-    sigma = sigma_initial;
-    sin_sigma = sin(sigma);
-    cos_sigma = cos(sigma);
-    cos_2_sigmam = cos(2 * sigma1 + sigma);
-    sqr_cos_2_sigmam = cos_2_sigmam * cos_2_sigmam;
-    delta_sigma = 0;
-    sigma_prev = 2 * NMEA_PI;
-    remaining_steps = 20;
-
-    while ((fabs(sigma - sigma_prev) > 1e-12) && (remaining_steps > 0))
-    { /* Iterate */
-        cos_2_sigmam = cos(2 * sigma1 + sigma);
-        sqr_cos_2_sigmam = cos_2_sigmam * cos_2_sigmam;
-        sin_sigma = sin(sigma);
-        cos_sigma = cos(sigma);
-        delta_sigma = B * sin_sigma * ( 
-             cos_2_sigmam + B / 4 * ( 
-             cos_sigma * (-1 + 2 * sqr_cos_2_sigmam) - 
-             B / 6 * cos_2_sigmam * (-3 + 4 * sin_sigma * sin_sigma) * (-3 + 4 * sqr_cos_2_sigmam)
-             ));
-        sigma_prev = sigma;
-        sigma = sigma_initial + delta_sigma;
-        remaining_steps --;
-    } /* Iterate */
-    
-    /* Calculate result */
-    tmp1 = (sin_U1 * sin_sigma - cos_U1 * cos_sigma * cos_alpha1);
-    phi2 = atan2(
-            sin_U1 * cos_sigma + cos_U1 * sin_sigma * cos_alpha1,
-            (1 - f) * sqrt(sin_alpha * sin_alpha + tmp1 * tmp1)
-            );
-    lambda = atan2(
-            sin_sigma * sin_alpha1,
-            cos_U1 * cos_sigma - sin_U1 * sin_sigma * cos_alpha1
-            );
-    C = f / 16 * sqr_cos_alpha * (4 + f * (4 - 3 * sqr_cos_alpha));
-    L = lambda -
-        (1 - C) * f * sin_alpha * (
-        sigma + C * sin_sigma *
-        (cos_2_sigmam + C * cos_sigma * (-1 + 2 * sqr_cos_2_sigmam))
-        );
-    
-    /* Result */
-    end_pos->lon = start_pos->lon + L;
-    end_pos->lat = phi2;
-    if ( end_azimuth != 0 )
-    {
-        *end_azimuth = atan2(
-            sin_alpha, -sin_U1 * sin_sigma + cos_U1 * cos_sigma * cos_alpha1
-            );
-    }
-    return ! (NMEA_POSIX(isnan)(end_pos->lat) || NMEA_POSIX(isnan)(end_pos->lon));
-}
-
-/**
- * \brief Convert position from INFO to radians position
- */
-void nmea_info2pos(const nmeaINFO *info, nmeaPOS *pos)
-{
-    pos->lat = nmea_ndeg2radian(info->lat);
-    pos->lon = nmea_ndeg2radian(info->lon);
-}
-
-/**
- * \brief Convert radians position to INFOs position
- */
-void nmea_pos2info(const nmeaPOS *pos, nmeaINFO *info)
-{
-    info->lat = nmea_radian2ndeg(pos->lat);
-    info->lon = nmea_radian2ndeg(pos->lon);
-}
diff --git a/apps/gps/nmealib/info.c b/apps/gps/nmealib/info.c
deleted file mode 100644
index 1d531ffc4..000000000
--- a/apps/gps/nmealib/info.c
+++ /dev/null
@@ -1,21 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: info.c 17 2008-03-11 11:56:11Z xtimor $
- *
- */
-
-#include <string.h>
-
-#include "nmea/info.h"
-
-void nmea_zero_INFO(nmeaINFO *info)
-{
-    memset(info, 0, sizeof(nmeaINFO));
-    nmea_time_now(&info->utc);
-    info->sig = NMEA_SIG_BAD;
-    info->fix = NMEA_FIX_BAD;
-}
diff --git a/apps/gps/nmealib/nmea/config.h b/apps/gps/nmealib/nmea/config.h
deleted file mode 100644
index 501466218..000000000
--- a/apps/gps/nmealib/nmea/config.h
+++ /dev/null
@@ -1,51 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: config.h 17 2008-03-11 11:56:11Z xtimor $
- *
- */
-
-#ifndef __NMEA_CONFIG_H__
-#define __NMEA_CONFIG_H__
-
-#define NMEA_VERSION        ("0.5.3")
-#define NMEA_VERSION_MAJOR  (0)
-#define NMEA_VERSION_MINOR  (5)
-#define NMEA_VERSION_PATCH  (3)
-
-#define NMEA_CONVSTR_BUF    (256)
-#define NMEA_TIMEPARSE_BUF  (256)
-
-#if defined(WINCE) || defined(UNDER_CE)
-#   define  NMEA_CE
-#endif
-
-#if defined(WIN32) || defined(NMEA_CE)
-#   define  NMEA_WIN
-#else
-#   define  NMEA_UNI
-#endif
-
-#if defined(NMEA_WIN) && (_MSC_VER >= 1400)
-# pragma warning(disable: 4996) /* declared deprecated */
-#endif
-
-#if defined(_MSC_VER)
-# define NMEA_POSIX(x)  _##x
-# define NMEA_INLINE    __inline
-#else
-# define NMEA_POSIX(x)  x
-# define NMEA_INLINE    inline
-#endif
-
-#if !defined(NDEBUG) && !defined(NMEA_CE)
-#   include <assert.h>
-#   define NMEA_ASSERT(x)   assert(x)
-#else
-#   define NMEA_ASSERT(x)
-#endif
-
-#endif /* __NMEA_CONFIG_H__ */
diff --git a/apps/gps/nmealib/nmea/context.h b/apps/gps/nmealib/nmea/context.h
deleted file mode 100644
index 06e558327..000000000
--- a/apps/gps/nmealib/nmea/context.h
+++ /dev/null
@@ -1,44 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: context.h 4 2007-08-27 13:11:03Z xtimor $
- *
- */
-
-#ifndef __NMEA_CONTEXT_H__
-#define __NMEA_CONTEXT_H__
-
-#include "config.h"
-
-#define NMEA_DEF_PARSEBUFF  (1024)
-#define NMEA_MIN_PARSEBUFF  (256)
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-typedef void (*nmeaTraceFunc)(const char *str, int str_size);
-typedef void (*nmeaErrorFunc)(const char *str, int str_size);
-
-typedef struct _nmeaPROPERTY
-{
-    nmeaTraceFunc   trace_func;
-    nmeaErrorFunc   error_func;
-    int             parse_buff_size;
-
-} nmeaPROPERTY;
-
-nmeaPROPERTY * nmea_property(void);
-
-void nmea_trace(const char *str, ...);
-void nmea_trace_buff(const char *buff, int buff_size);
-void nmea_error(const char *str, ...);
-
-#ifdef  __cplusplus
-}
-#endif
-
-#endif /* __NMEA_CONTEXT_H__ */
diff --git a/apps/gps/nmealib/nmea/generate.h b/apps/gps/nmealib/nmea/generate.h
deleted file mode 100644
index 9d7fdee51..000000000
--- a/apps/gps/nmealib/nmea/generate.h
+++ /dev/null
@@ -1,44 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: generate.h 4 2007-08-27 13:11:03Z xtimor $
- *
- */
-
-#ifndef __NMEA_GENERATE_H__
-#define __NMEA_GENERATE_H__
-
-#include "sentence.h"
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-int     nmea_generate(
-        char *buff, int buff_sz,    /* buffer */
-        const nmeaINFO *info,       /* source info */
-        int generate_mask           /* mask of sentence`s (e.g. GPGGA | GPGSA) */
-        );
-
-int     nmea_gen_GPGGA(char *buff, int buff_sz, nmeaGPGGA *pack);
-int     nmea_gen_GPGSA(char *buff, int buff_sz, nmeaGPGSA *pack);
-int     nmea_gen_GPGSV(char *buff, int buff_sz, nmeaGPGSV *pack);
-int     nmea_gen_GPRMC(char *buff, int buff_sz, nmeaGPRMC *pack);
-int     nmea_gen_GPVTG(char *buff, int buff_sz, nmeaGPVTG *pack);
-
-void    nmea_info2GPGGA(const nmeaINFO *info, nmeaGPGGA *pack);
-void    nmea_info2GPGSA(const nmeaINFO *info, nmeaGPGSA *pack);
-void    nmea_info2GPRMC(const nmeaINFO *info, nmeaGPRMC *pack);
-void    nmea_info2GPVTG(const nmeaINFO *info, nmeaGPVTG *pack);
-
-int     nmea_gsv_npack(int sat_count);
-void    nmea_info2GPGSV(const nmeaINFO *info, nmeaGPGSV *pack, int pack_idx);
-
-#ifdef  __cplusplus
-}
-#endif
-
-#endif /* __NMEA_GENERATE_H__ */
diff --git a/apps/gps/nmealib/nmea/generator.h b/apps/gps/nmealib/nmea/generator.h
deleted file mode 100644
index a97b91b13..000000000
--- a/apps/gps/nmealib/nmea/generator.h
+++ /dev/null
@@ -1,79 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: generator.h 4 2007-08-27 13:11:03Z xtimor $
- *
- */
-
-#ifndef __NMEA_GENERATOR_H__
-#define __NMEA_GENERATOR_H__
-
-#include "info.h"
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-/*
- * high level
- */
-
-struct _nmeaGENERATOR;
-
-enum nmeaGENTYPE
-{
-    NMEA_GEN_NOISE = 0,
-    NMEA_GEN_STATIC,
-    NMEA_GEN_ROTATE,
-
-    NMEA_GEN_SAT_STATIC,
-    NMEA_GEN_SAT_ROTATE,
-    NMEA_GEN_POS_RANDMOVE,
-
-    NMEA_GEN_LAST
-};
-
-struct _nmeaGENERATOR * nmea_create_generator(int type, nmeaINFO *info);
-void    nmea_destroy_generator(struct _nmeaGENERATOR *gen);
-
-int     nmea_generate_from(
-        char *buff, int buff_sz,    /* buffer */
-        nmeaINFO *info,             /* source info */
-        struct _nmeaGENERATOR *gen, /* generator */
-        int generate_mask           /* mask of sentence`s (e.g. GPGGA | GPGSA) */
-        );
-
-/*
- * low level
- */
-
-typedef int (*nmeaNMEA_GEN_INIT)(struct _nmeaGENERATOR *gen, nmeaINFO *info);
-typedef int (*nmeaNMEA_GEN_LOOP)(struct _nmeaGENERATOR *gen, nmeaINFO *info);
-typedef int (*nmeaNMEA_GEN_RESET)(struct _nmeaGENERATOR *gen, nmeaINFO *info);
-typedef int (*nmeaNMEA_GEN_DESTROY)(struct _nmeaGENERATOR *gen);
-
-typedef struct _nmeaGENERATOR
-{
-    void                *gen_data;
-    nmeaNMEA_GEN_INIT    init_call;
-    nmeaNMEA_GEN_LOOP    loop_call;
-    nmeaNMEA_GEN_RESET   reset_call;
-    nmeaNMEA_GEN_DESTROY destroy_call;
-    struct _nmeaGENERATOR *next;
-
-} nmeaGENERATOR;
-
-int     nmea_gen_init(nmeaGENERATOR *gen, nmeaINFO *info);
-int     nmea_gen_loop(nmeaGENERATOR *gen, nmeaINFO *info);
-int     nmea_gen_reset(nmeaGENERATOR *gen, nmeaINFO *info);
-void    nmea_gen_destroy(nmeaGENERATOR *gen);
-void    nmea_gen_add(nmeaGENERATOR *to, nmeaGENERATOR *gen);
-
-#ifdef  __cplusplus
-}
-#endif
-
-#endif /* __NMEA_GENERATOR_H__ */
diff --git a/apps/gps/nmealib/nmea/gmath.h b/apps/gps/nmealib/nmea/gmath.h
deleted file mode 100644
index 3133b7228..000000000
--- a/apps/gps/nmealib/nmea/gmath.h
+++ /dev/null
@@ -1,92 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: gmath.h 17 2008-03-11 11:56:11Z xtimor $
- *
- */
-
-#ifndef __NMEA_GMATH_H__
-#define __NMEA_GMATH_H__
-
-#include "info.h"
-
-#define NMEA_PI                     (3.141592653589793)             /**< PI value */
-#define NMEA_PI180                  (NMEA_PI / 180)                 /**< PI division by 180 */
-#define NMEA_EARTHRADIUS_KM         (6378)                          /**< Earth's mean radius in km */
-#define NMEA_EARTHRADIUS_M          (NMEA_EARTHRADIUS_KM * 1000)    /**< Earth's mean radius in m */
-#define NMEA_EARTH_SEMIMAJORAXIS_M  (6378137.0)                     /**< Earth's semi-major axis in m according WGS84 */
-#define NMEA_EARTH_SEMIMAJORAXIS_KM (NMEA_EARTHMAJORAXIS_KM / 1000) /**< Earth's semi-major axis in km according WGS 84 */
-#define NMEA_EARTH_FLATTENING       (1 / 298.257223563)             /**< Earth's flattening according WGS 84 */
-#define NMEA_DOP_FACTOR             (5)                             /**< Factor for translating DOP to meters */
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-/*
- * degree VS radian
- */
-
-float nmea_degree2radian(float val);
-float nmea_radian2degree(float val);
-
-/*
- * NDEG (NMEA degree)
- */
-
-float nmea_ndeg2degree(float val);
-float nmea_degree2ndeg(float val);
-
-float nmea_ndeg2radian(float val);
-float nmea_radian2ndeg(float val);
-
-/*
- * DOP
- */
-
-float nmea_calc_pdop(float hdop, float vdop);
-float nmea_dop2meters(float dop);
-float nmea_meters2dop(float meters);
-
-/*
- * positions work
- */
-
-void nmea_info2pos(const nmeaINFO *info, nmeaPOS *pos);
-void nmea_pos2info(const nmeaPOS *pos, nmeaINFO *info);
-
-float  nmea_distance(
-        const nmeaPOS *from_pos,
-        const nmeaPOS *to_pos
-        );
-
-float  nmea_distance_ellipsoid(
-        const nmeaPOS *from_pos,
-        const nmeaPOS *to_pos,
-        float *from_azimuth,
-        float *to_azimuth
-        );
-
-int     nmea_move_horz(
-        const nmeaPOS *start_pos,
-        nmeaPOS *end_pos,
-        float azimuth,
-        float distance
-        );
-
-int     nmea_move_horz_ellipsoid(
-        const nmeaPOS *start_pos,
-        nmeaPOS *end_pos,
-        float azimuth,
-        float distance,
-        float *end_azimuth
-        );
-
-#ifdef  __cplusplus
-}
-#endif
-
-#endif /* __NMEA_GMATH_H__ */
diff --git a/apps/gps/nmealib/nmea/info.h b/apps/gps/nmealib/nmea/info.h
deleted file mode 100644
index 09ccd4c09..000000000
--- a/apps/gps/nmealib/nmea/info.h
+++ /dev/null
@@ -1,112 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: info.h 10 2007-11-15 14:50:15Z xtimor $
- *
- */
-
-/*! \file */
-
-#ifndef __NMEA_INFO_H__
-#define __NMEA_INFO_H__
-
-#include "time.h"
-
-#define NMEA_SIG_BAD        (0)
-#define NMEA_SIG_LOW        (1)
-#define NMEA_SIG_MID        (2)
-#define NMEA_SIG_HIGH       (3)
-
-#define NMEA_FIX_BAD        (1)
-#define NMEA_FIX_2D         (2)
-#define NMEA_FIX_3D         (3)
-
-#define NMEA_MAXSAT         (12)
-#define NMEA_SATINPACK      (4)
-#define NMEA_NSATPACKS      (NMEA_MAXSAT / NMEA_SATINPACK)
-
-#define NMEA_DEF_LAT        (5001.2621)
-#define NMEA_DEF_LON        (3613.0595)
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-/**
- * Position data in fractional degrees or radians
- */
-typedef struct _nmeaPOS
-{
-    float lat;         /**< Latitude */
-    float lon;         /**< Longitude */
-
-} nmeaPOS;
-
-/**
- * Information about satellite
- * @see nmeaSATINFO
- * @see nmeaGPGSV
- */
-typedef struct _nmeaSATELLITE
-{
-    int     id;         /**< Satellite PRN number */
-    int     in_use;     /**< Used in position fix */
-    int     elv;        /**< Elevation in degrees, 90 maximum */
-    int     azimuth;    /**< Azimuth, degrees from true north, 000 to 359 */
-    int     sig;        /**< Signal, 00-99 dB */
-
-} nmeaSATELLITE;
-
-/**
- * Information about all satellites in view
- * @see nmeaINFO
- * @see nmeaGPGSV
- */
-typedef struct _nmeaSATINFO
-{
-    int     inuse;      /**< Number of satellites in use (not those in view) */
-    int     inview;     /**< Total number of satellites in view */
-    nmeaSATELLITE sat[NMEA_MAXSAT]; /**< Satellites information */
-
-} nmeaSATINFO;
-
-/**
- * Summary GPS information from all parsed packets,
- * used also for generating NMEA stream
- * @see nmea_parse
- * @see nmea_GPGGA2info,  nmea_...2info
- */
-typedef struct _nmeaINFO
-{
-    int     smask;      /**< Mask specifying types of packages from which data have been obtained */
-
-    nmeaTIME utc;       /**< UTC of position */
-
-    int     sig;        /**< GPS quality indicator (0 = Invalid; 1 = Fix; 2 = Differential, 3 = Sensitive) */
-    int     fix;        /**< Operating mode, used for navigation (1 = Fix not available; 2 = 2D; 3 = 3D) */
-
-    float  PDOP;       /**< Position Dilution Of Precision */
-    float  HDOP;       /**< Horizontal Dilution Of Precision */
-    float  VDOP;       /**< Vertical Dilution Of Precision */
-
-    float  lat;        /**< Latitude in NDEG - +/-[degree][min].[sec/60] */
-    float  lon;        /**< Longitude in NDEG - +/-[degree][min].[sec/60] */
-    float  elv;        /**< Antenna altitude above/below mean sea level (geoid) in meters */
-    float  speed;      /**< Speed over the ground in kilometers/hour */
-    float  direction;  /**< Track angle in degrees True */
-    float  declination; /**< Magnetic variation degrees (Easterly var. subtracts from true course) */
-
-    nmeaSATINFO satinfo; /**< Satellites information */
-
-} nmeaINFO;
-
-void nmea_zero_INFO(nmeaINFO *info);
-
-#ifdef  __cplusplus
-}
-#endif
-
-#endif /* __NMEA_INFO_H__ */
diff --git a/apps/gps/nmealib/nmea/nmea.h b/apps/gps/nmealib/nmea/nmea.h
deleted file mode 100644
index 62692230f..000000000
--- a/apps/gps/nmealib/nmea/nmea.h
+++ /dev/null
@@ -1,25 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: nmea.h 17 2008-03-11 11:56:11Z xtimor $
- *
- */
-
-#ifndef __NMEA_H__
-#define __NMEA_H__
-
-#include "./config.h"
-#include "./units.h"
-#include "./gmath.h"
-#include "./info.h"
-#include "./sentence.h"
-#include "./generate.h"
-#include "./generator.h"
-#include "./parse.h"
-#include "./parser.h"
-#include "./context.h"
-
-#endif /* __NMEA_H__ */
diff --git a/apps/gps/nmealib/nmea/parse.h b/apps/gps/nmealib/nmea/parse.h
deleted file mode 100644
index 3e6b425db..000000000
--- a/apps/gps/nmealib/nmea/parse.h
+++ /dev/null
@@ -1,39 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: parse.h 4 2007-08-27 13:11:03Z xtimor $
- *
- */
-
-#ifndef __NMEA_PARSE_H__
-#define __NMEA_PARSE_H__
-
-#include "sentence.h"
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-int nmea_pack_type(const char *buff, int buff_sz);
-int nmea_find_tail(const char *buff, int buff_sz, int *res_crc);
-
-int nmea_parse_GPGGA(const char *buff, int buff_sz, nmeaGPGGA *pack);
-int nmea_parse_GPGSA(const char *buff, int buff_sz, nmeaGPGSA *pack);
-int nmea_parse_GPGSV(const char *buff, int buff_sz, nmeaGPGSV *pack);
-int nmea_parse_GPRMC(const char *buff, int buff_sz, nmeaGPRMC *pack);
-int nmea_parse_GPVTG(const char *buff, int buff_sz, nmeaGPVTG *pack);
-
-void nmea_GPGGA2info(nmeaGPGGA *pack, nmeaINFO *info);
-void nmea_GPGSA2info(nmeaGPGSA *pack, nmeaINFO *info);
-void nmea_GPGSV2info(nmeaGPGSV *pack, nmeaINFO *info);
-void nmea_GPRMC2info(nmeaGPRMC *pack, nmeaINFO *info);
-void nmea_GPVTG2info(nmeaGPVTG *pack, nmeaINFO *info);
-
-#ifdef  __cplusplus
-}
-#endif
-
-#endif /* __NMEA_PARSE_H__ */
diff --git a/apps/gps/nmealib/nmea/parser.h b/apps/gps/nmealib/nmea/parser.h
deleted file mode 100644
index 51a3fab7f..000000000
--- a/apps/gps/nmealib/nmea/parser.h
+++ /dev/null
@@ -1,59 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: parser.h 4 2007-08-27 13:11:03Z xtimor $
- *
- */
-
-#ifndef __NMEA_PARSER_H__
-#define __NMEA_PARSER_H__
-
-#include "info.h"
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-/*
- * high level
- */
-
-typedef struct _nmeaPARSER
-{
-    void *top_node;
-    void *end_node;
-    unsigned char *buffer;
-    int buff_size;
-    int buff_use;
-
-} nmeaPARSER;
-
-int     nmea_parser_init(nmeaPARSER *parser);
-void    nmea_parser_destroy(nmeaPARSER *parser);
-
-int     nmea_parse(
-        nmeaPARSER *parser,
-        const char *buff, int buff_sz,
-        nmeaINFO *info
-        );
-
-/*
- * low level
- */
-
-int     nmea_parser_push(nmeaPARSER *parser, const char *buff, int buff_sz);
-int     nmea_parser_top(nmeaPARSER *parser);
-int     nmea_parser_pop(nmeaPARSER *parser, void **pack_ptr);
-int     nmea_parser_peek(nmeaPARSER *parser, void **pack_ptr);
-int     nmea_parser_drop(nmeaPARSER *parser);
-int     nmea_parser_buff_clear(nmeaPARSER *parser);
-int     nmea_parser_queue_clear(nmeaPARSER *parser);
-
-#ifdef  __cplusplus
-}
-#endif
-
-#endif /* __NMEA_PARSER_H__ */
diff --git a/apps/gps/nmealib/nmea/sentence.h b/apps/gps/nmealib/nmea/sentence.h
deleted file mode 100644
index 2aa975c71..000000000
--- a/apps/gps/nmealib/nmea/sentence.h
+++ /dev/null
@@ -1,128 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: sentence.h 17 2008-03-11 11:56:11Z xtimor $
- *
- */
-
-/*! \file */
-
-#ifndef __NMEA_SENTENCE_H__
-#define __NMEA_SENTENCE_H__
-
-#include "info.h"
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-/**
- * NMEA packets type which parsed and generated by library
- */
-enum nmeaPACKTYPE
-{
-    GPNON   = 0x0000,   /**< Unknown packet type. */
-    GPGGA   = 0x0001,   /**< GGA - Essential fix data which provide 3D location and accuracy data. */
-    GPGSA   = 0x0002,   /**< GSA - GPS receiver operating mode, SVs used for navigation, and DOP values. */
-    GPGSV   = 0x0004,   /**< GSV - Number of SVs in view, PRN numbers, elevation, azimuth & SNR values. */
-    GPRMC   = 0x0008,   /**< RMC - Recommended Minimum Specific GPS/TRANSIT Data. */
-    GPVTG   = 0x0010    /**< VTG - Actual track made good and speed over ground. */
-};
-
-/**
- * GGA packet information structure (Global Positioning System Fix Data)
- */
-typedef struct _nmeaGPGGA
-{
-    nmeaTIME utc;       /**< UTC of position (just time) */
-	float  lat;        /**< Latitude in NDEG - [degree][min].[sec/60] */
-    char    ns;         /**< [N]orth or [S]outh */
-	float  lon;        /**< Longitude in NDEG - [degree][min].[sec/60] */
-    char    ew;         /**< [E]ast or [W]est */
-    int     sig;        /**< GPS quality indicator (0 = Invalid; 1 = Fix; 2 = Differential, 3 = Sensitive) */
-	int     satinuse;   /**< Number of satellites in use (not those in view) */
-    float  HDOP;       /**< Horizontal dilution of precision */
-    float  elv;        /**< Antenna altitude above/below mean sea level (geoid) */
-    char    elv_units;  /**< [M]eters (Antenna height unit) */
-    float  diff;       /**< Geoidal separation (Diff. between WGS-84 earth ellipsoid and mean sea level. '-' = geoid is below WGS-84 ellipsoid) */
-    char    diff_units; /**< [M]eters (Units of geoidal separation) */
-    float  dgps_age;   /**< Time in seconds since last DGPS update */
-    int     dgps_sid;   /**< DGPS station ID number */
-
-} nmeaGPGGA;
-
-/**
- * GSA packet information structure (Satellite status)
- */
-typedef struct _nmeaGPGSA
-{
-    char    fix_mode;   /**< Mode (M = Manual, forced to operate in 2D or 3D; A = Automatic, 3D/2D) */
-    int     fix_type;   /**< Type, used for navigation (1 = Fix not available; 2 = 2D; 3 = 3D) */
-    int     sat_prn[NMEA_MAXSAT]; /**< PRNs of satellites used in position fix (null for unused fields) */
-    float  PDOP;       /**< Dilution of precision */
-    float  HDOP;       /**< Horizontal dilution of precision */
-    float  VDOP;       /**< Vertical dilution of precision */
-
-} nmeaGPGSA;
-
-/**
- * GSV packet information structure (Satellites in view)
- */
-typedef struct _nmeaGPGSV
-{
-    int     pack_count; /**< Total number of messages of this type in this cycle */
-    int     pack_index; /**< Message number */
-    int     sat_count;  /**< Total number of satellites in view */
-    nmeaSATELLITE sat_data[NMEA_SATINPACK];
-
-} nmeaGPGSV;
-
-/**
- * RMC packet information structure (Recommended Minimum sentence C)
- */
-typedef struct _nmeaGPRMC
-{
-    nmeaTIME utc;       /**< UTC of position */
-    char    status;     /**< Status (A = active or V = void) */
-	float  lat;        /**< Latitude in NDEG - [degree][min].[sec/60] */
-    char    ns;         /**< [N]orth or [S]outh */
-	float  lon;        /**< Longitude in NDEG - [degree][min].[sec/60] */
-    char    ew;         /**< [E]ast or [W]est */
-    float  speed;      /**< Speed over the ground in knots */
-    float  direction;  /**< Track angle in degrees True */
-    float  declination; /**< Magnetic variation degrees (Easterly var. subtracts from true course) */
-    char    declin_ew;  /**< [E]ast or [W]est */
-    char    mode;       /**< Mode indicator of fix type (A = autonomous, D = differential, E = estimated, N = not valid, S = simulator) */
-
-} nmeaGPRMC;
-
-/**
- * VTG packet information structure (Track made good and ground speed)
- */
-typedef struct _nmeaGPVTG
-{
-    float  dir;        /**< True track made good (degrees) */
-    char    dir_t;      /**< Fixed text 'T' indicates that track made good is relative to true north */
-    float  dec;        /**< Magnetic track made good */
-    char    dec_m;      /**< Fixed text 'M' */
-    float  spn;        /**< Ground speed, knots */
-    char    spn_n;      /**< Fixed text 'N' indicates that speed over ground is in knots */
-    float  spk;        /**< Ground speed, kilometers per hour */
-    char    spk_k;      /**< Fixed text 'K' indicates that speed over ground is in kilometers/hour */
-
-} nmeaGPVTG;
-
-void nmea_zero_GPGGA(nmeaGPGGA *pack);
-void nmea_zero_GPGSA(nmeaGPGSA *pack);
-void nmea_zero_GPGSV(nmeaGPGSV *pack);
-void nmea_zero_GPRMC(nmeaGPRMC *pack);
-void nmea_zero_GPVTG(nmeaGPVTG *pack);
-
-#ifdef  __cplusplus
-}
-#endif
-
-#endif /* __NMEA_SENTENCE_H__ */
diff --git a/apps/gps/nmealib/nmea/time.h b/apps/gps/nmealib/nmea/time.h
deleted file mode 100644
index bbe59f65c..000000000
--- a/apps/gps/nmealib/nmea/time.h
+++ /dev/null
@@ -1,47 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: time.h 4 2007-08-27 13:11:03Z xtimor $
- *
- */
-
-/*! \file */
-
-#ifndef __NMEA_TIME_H__
-#define __NMEA_TIME_H__
-
-#include "config.h"
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-/**
- * Date and time data
- * @see nmea_time_now
- */
-typedef struct _nmeaTIME
-{
-    int     year;       /**< Years since 1900 */
-    int     mon;        /**< Months since January - [0,11] */
-    int     day;        /**< Day of the month - [1,31] */
-    int     hour;       /**< Hours since midnight - [0,23] */
-    int     min;        /**< Minutes after the hour - [0,59] */
-    int     sec;        /**< Seconds after the minute - [0,59] */
-    int     hsec;       /**< Hundredth part of second - [0,99] */
-
-} nmeaTIME;
-
-/**
- * \brief Get time now to nmeaTIME structure
- */
-void nmea_time_now(nmeaTIME *t);
-
-#ifdef  __cplusplus
-}
-#endif
-
-#endif /* __NMEA_TIME_H__ */
diff --git a/apps/gps/nmealib/nmea/tok.h b/apps/gps/nmealib/nmea/tok.h
deleted file mode 100644
index 8f948dd2d..000000000
--- a/apps/gps/nmealib/nmea/tok.h
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: tok.h 4 2007-08-27 13:11:03Z xtimor $
- *
- */
-
-#ifndef __NMEA_TOK_H__
-#define __NMEA_TOK_H__
-
-#include "config.h"
-#include <string.h>
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-int     nmea_calc_crc(const char *buff, int buff_sz);
-int     nmea_atoi(const char *str, int str_sz, int radix);
-float  nmea_atof(const char *str, int str_sz);
-int     nmea_printf(char *buff, int buff_sz, const char *format, ...);
-int     nmea_scanf(const char *buff, int buff_sz, const char *format, ...);
-
-#ifdef  __cplusplus
-}
-#endif
-
-#endif /* __NMEA_TOK_H__ */
diff --git a/apps/gps/nmealib/nmea/units.h b/apps/gps/nmealib/nmea/units.h
deleted file mode 100644
index 767f980e2..000000000
--- a/apps/gps/nmealib/nmea/units.h
+++ /dev/null
@@ -1,30 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: units.h 4 2007-08-27 13:11:03Z xtimor $
- *
- */
-
-#ifndef __NMEA_UNITS_H__
-#define __NMEA_UNITS_H__
-
-#include "config.h"
-
-/*
- * Distance units
- */
-
-#define NMEA_TUD_YARDS      (1.0936)        /**< Yeards, meter * NMEA_TUD_YARDS = yard */
-#define NMEA_TUD_KNOTS      (1.852)         /**< Knots, kilometer / NMEA_TUD_KNOTS = knot */
-#define NMEA_TUD_MILES      (1.609)         /**< Miles, kilometer / NMEA_TUD_MILES = mile */
-
-/*
- * Speed units
- */
-
-#define NMEA_TUS_MS         (3.6)           /**< Meters per seconds, (k/h) / NMEA_TUS_MS= (m/s) */
-
-#endif /* __NMEA_UNITS_H__ */
diff --git a/apps/gps/nmealib/parse.c b/apps/gps/nmealib/parse.c
deleted file mode 100644
index 99bdf075b..000000000
--- a/apps/gps/nmealib/parse.c
+++ /dev/null
@@ -1,501 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: parse.c 17 2008-03-11 11:56:11Z xtimor $
- *
- */
-
-/**
- * \file parse.h
- * \brief Functions of a low level for analysis of
- * packages of NMEA stream.
- *
- * \code
- * ...
- * ptype = nmea_pack_type(
- *     (const char *)parser->buffer + nparsed + 1,
- *     parser->buff_use - nparsed - 1);
- * 
- * if(0 == (node = malloc(sizeof(nmeaParserNODE))))
- *     goto mem_fail;
- * 
- * node->pack = 0;
- * 
- * switch(ptype)
- * {
- * case GPGGA:
- *     if(0 == (node->pack = malloc(sizeof(nmeaGPGGA))))
- *         goto mem_fail;
- *     node->packType = GPGGA;
- *     if(!nmea_parse_GPGGA(
- *         (const char *)parser->buffer + nparsed,
- *         sen_sz, (nmeaGPGGA *)node->pack))
- *     {
- *         free(node);
- *         node = 0;
- *     }
- *     break;
- * case GPGSA:
- *     if(0 == (node->pack = malloc(sizeof(nmeaGPGSA))))
- *         goto mem_fail;
- *     node->packType = GPGSA;
- *     if(!nmea_parse_GPGSA(
- *         (const char *)parser->buffer + nparsed,
- *         sen_sz, (nmeaGPGSA *)node->pack))
- *     {
- *         free(node);
- *         node = 0;
- *     }
- *     break;
- * ...
- * \endcode
- */
-#include "nmea/tok.h"
-#include "nmea/parse.h"
-#include "nmea/context.h"
-#include "nmea/gmath.h"
-#include "nmea/units.h"
-
-#include <string.h>
-#include <stdio.h>
-
-int _nmea_parse_time(const char *buff, int buff_sz, nmeaTIME *res)
-{
-    int success = 0;
-
-    switch(buff_sz)
-    {
-    case sizeof("hhmmss") - 1:
-        success = (3 == nmea_scanf(buff, buff_sz,
-            "%2d%2d%2d", &(res->hour), &(res->min), &(res->sec)
-            ));
-        break;
-    case sizeof("hhmmss.s") - 1:
-    case sizeof("hhmmss.ss") - 1:
-    case sizeof("hhmmss.sss") - 1:
-        success = (4 == nmea_scanf(buff, buff_sz,
-            "%2d%2d%2d.%d", &(res->hour), &(res->min), &(res->sec), &(res->hsec)
-            ));
-        break;
-    default:
-        nmea_error("Parse of time error (format error)!");
-        success = 0;
-        break;
-    }
-
-    return (success?0:-1);        
-}
-
-/**
- * \brief Define packet type by header (nmeaPACKTYPE).
- * @param buff a constant character pointer of packet buffer.
- * @param buff_sz buffer size.
- * @return The defined packet type
- * @see nmeaPACKTYPE
- */
-int nmea_pack_type(const char *buff, int buff_sz)
-{
-    static const char *pheads[] = {
-        "GPGGA",
-        "GPGSA",
-        "GPGSV",
-        "GPRMC",
-        "GPVTG",
-    };
-
-    //NMEA_ASSERT(buff);
-
-    if(buff_sz < 5)
-        return GPNON;
-    else if(0 == memcmp(buff, pheads[0], 5))
-        return GPGGA;
-    else if(0 == memcmp(buff, pheads[1], 5))
-        return GPGSA;
-    else if(0 == memcmp(buff, pheads[2], 5))
-        return GPGSV;
-    else if(0 == memcmp(buff, pheads[3], 5))
-        return GPRMC;
-    else if(0 == memcmp(buff, pheads[4], 5))
-        return GPVTG;
-
-    return GPNON;
-}
-
-/**
- * \brief Find tail of packet ("\r\n") in buffer and check control sum (CRC).
- * @param buff a constant character pointer of packets buffer.
- * @param buff_sz buffer size.
- * @param res_crc a integer pointer for return CRC of packet (must be defined).
- * @return Number of bytes to packet tail.
- */
-int nmea_find_tail(const char *buff, int buff_sz, int *res_crc)
-{
-    static const int tail_sz = 3 /* *[CRC] */ + 2 /* \r\n */;
-
-    const char *end_buff = buff + buff_sz;
-    int nread = 0;
-    int crc = 0;
-
-    //NMEA_ASSERT(buff && res_crc);
-
-    *res_crc = -1;
-
-    for(;buff < end_buff; ++buff, ++nread)
-    {
-        if(('$' == *buff) && nread)
-        {
-            buff = 0;
-            break;
-        }
-        else if('*' == *buff)
-        {
-            if(buff + tail_sz <= end_buff && '\r' == buff[3] && '\n' == buff[4])
-            {
-                *res_crc = nmea_atoi(buff + 1, 2, 16);
-                nread = buff_sz - (int)(end_buff - (buff + tail_sz));
-                if(*res_crc != crc)
-                {
-                    *res_crc = -1;
-                    buff = 0;
-                }
-            }
-
-            break;
-        }
-        else if(nread)
-            crc ^= (int)*buff;
-    }
-
-    if(*res_crc < 0 && buff)
-        nread = 0;
-
-    return nread;
-}
-
-/**
- * \brief Parse GGA packet from buffer.
- * @param buff a constant character pointer of packet buffer.
- * @param buff_sz buffer size.
- * @param pack a pointer of packet which will filled by function.
- * @return 1 (true) - if parsed successfully or 0 (false) - if fail.
- */
-int nmea_parse_GPGGA(const char *buff, int buff_sz, nmeaGPGGA *pack)
-{
-    char time_buff[NMEA_TIMEPARSE_BUF];
-
-    //NMEA_ASSERT(buff && pack);
-
-    memset(pack, 0, sizeof(nmeaGPGGA));
-
-    nmea_trace_buff(buff, buff_sz);
-
-    if(14 != nmea_scanf(buff, buff_sz,
-        "$GPGGA,%s,%f,%C,%f,%C,%d,%d,%f,%f,%C,%f,%C,%f,%d*",
-        &(time_buff[0]),
-        &(pack->lat), &(pack->ns), &(pack->lon), &(pack->ew),
-        &(pack->sig), &(pack->satinuse), &(pack->HDOP), &(pack->elv), &(pack->elv_units),
-        &(pack->diff), &(pack->diff_units), &(pack->dgps_age), &(pack->dgps_sid)))
-    {
-        nmea_error("GPGGA parse error!");
-        return 0;
-    }
-
-    if(0 != _nmea_parse_time(&time_buff[0], (int)strlen(&time_buff[0]), &(pack->utc)))
-    {
-        nmea_error("GPGGA time parse error!");
-        return 0;
-    }
-
-    return 1;
-}
-
-/**
- * \brief Parse GSA packet from buffer.
- * @param buff a constant character pointer of packet buffer.
- * @param buff_sz buffer size.
- * @param pack a pointer of packet which will filled by function.
- * @return 1 (true) - if parsed successfully or 0 (false) - if fail.
- */
-int nmea_parse_GPGSA(const char *buff, int buff_sz, nmeaGPGSA *pack)
-{
-    //NMEA_ASSERT(buff && pack);
-
-    memset(pack, 0, sizeof(nmeaGPGSA));
-
-    nmea_trace_buff(buff, buff_sz);
-
-    if(17 != nmea_scanf(buff, buff_sz,
-        "$GPGSA,%C,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%f,%f,%f*",
-        &(pack->fix_mode), &(pack->fix_type),
-        &(pack->sat_prn[0]), &(pack->sat_prn[1]), &(pack->sat_prn[2]), &(pack->sat_prn[3]), &(pack->sat_prn[4]), &(pack->sat_prn[5]),
-        &(pack->sat_prn[6]), &(pack->sat_prn[7]), &(pack->sat_prn[8]), &(pack->sat_prn[9]), &(pack->sat_prn[10]), &(pack->sat_prn[11]),
-        &(pack->PDOP), &(pack->HDOP), &(pack->VDOP)))
-    {
-        nmea_error("GPGSA parse error!");
-        return 0;
-    }
-
-    return 1;
-}
-
-/**
- * \brief Parse GSV packet from buffer.
- * @param buff a constant character pointer of packet buffer.
- * @param buff_sz buffer size.
- * @param pack a pointer of packet which will filled by function.
- * @return 1 (true) - if parsed successfully or 0 (false) - if fail.
- */
-int nmea_parse_GPGSV(const char *buff, int buff_sz, nmeaGPGSV *pack)
-{
-    int nsen, nsat;
-
-    //NMEA_ASSERT(buff && pack);
-
-    memset(pack, 0, sizeof(nmeaGPGSV));
-
-    nmea_trace_buff(buff, buff_sz);
-
-    nsen = nmea_scanf(buff, buff_sz,
-        "$GPGSV,%d,%d,%d,"
-        "%d,%d,%d,%d,"
-        "%d,%d,%d,%d,"
-        "%d,%d,%d,%d,"
-        "%d,%d,%d,%d*",
-        &(pack->pack_count), &(pack->pack_index), &(pack->sat_count),
-        &(pack->sat_data[0].id), &(pack->sat_data[0].elv), &(pack->sat_data[0].azimuth), &(pack->sat_data[0].sig),
-        &(pack->sat_data[1].id), &(pack->sat_data[1].elv), &(pack->sat_data[1].azimuth), &(pack->sat_data[1].sig),
-        &(pack->sat_data[2].id), &(pack->sat_data[2].elv), &(pack->sat_data[2].azimuth), &(pack->sat_data[2].sig),
-        &(pack->sat_data[3].id), &(pack->sat_data[3].elv), &(pack->sat_data[3].azimuth), &(pack->sat_data[3].sig));
-
-    nsat = (pack->pack_index - 1) * NMEA_SATINPACK;
-    nsat = (nsat + NMEA_SATINPACK > pack->sat_count)?pack->sat_count - nsat:NMEA_SATINPACK;
-    nsat = nsat * 4 + 3 /* first three sentence`s */;
-
-    if(nsen < nsat || nsen > (NMEA_SATINPACK * 4 + 3))
-    {
-        nmea_error("GPGSV parse error!");
-        return 0;
-    }
-
-    return 1;
-}
-
-/**
- * \brief Parse RMC packet from buffer.
- * @param buff a constant character pointer of packet buffer.
- * @param buff_sz buffer size.
- * @param pack a pointer of packet which will filled by function.
- * @return 1 (true) - if parsed successfully or 0 (false) - if fail.
- */
-int nmea_parse_GPRMC(const char *buff, int buff_sz, nmeaGPRMC *pack)
-{
-    int nsen;
-    char time_buff[NMEA_TIMEPARSE_BUF];
-
-    //NMEA_ASSERT(buff && pack);
-
-    memset(pack, 0, sizeof(nmeaGPRMC));
-
-    nmea_trace_buff(buff, buff_sz);
-
-    nsen = nmea_scanf(buff, buff_sz,
-        "$GPRMC,%s,%C,%f,%C,%f,%C,%f,%f,%2d%2d%2d,%f,%C,%C*",
-        &(time_buff[0]),
-        &(pack->status), &(pack->lat), &(pack->ns), &(pack->lon), &(pack->ew),
-        &(pack->speed), &(pack->direction),
-        &(pack->utc.day), &(pack->utc.mon), &(pack->utc.year),
-        &(pack->declination), &(pack->declin_ew), &(pack->mode));
-
-    if(nsen != 13 && nsen != 14)
-    {
-        nmea_error("GPRMC parse error!");
-        return 0;
-    }
-
-    if(0 != _nmea_parse_time(&time_buff[0], (int)strlen(&time_buff[0]), &(pack->utc)))
-    {
-        nmea_error("GPRMC time parse error!");
-        return 0;
-    }
-
-    if(pack->utc.year < 90)
-        pack->utc.year += 100;
-    pack->utc.mon -= 1;
-
-    return 1;
-}
-
-/**
- * \brief Parse VTG packet from buffer.
- * @param buff a constant character pointer of packet buffer.
- * @param buff_sz buffer size.
- * @param pack a pointer of packet which will filled by function.
- * @return 1 (true) - if parsed successfully or 0 (false) - if fail.
- */
-int nmea_parse_GPVTG(const char *buff, int buff_sz, nmeaGPVTG *pack)
-{
-    //NMEA_ASSERT(buff && pack);
-
-    memset(pack, 0, sizeof(nmeaGPVTG));
-
-    nmea_trace_buff(buff, buff_sz);
-
-    if(8 != nmea_scanf(buff, buff_sz,
-        "$GPVTG,%f,%C,%f,%C,%f,%C,%f,%C*",
-        &(pack->dir), &(pack->dir_t),
-        &(pack->dec), &(pack->dec_m),
-        &(pack->spn), &(pack->spn_n),
-        &(pack->spk), &(pack->spk_k)))
-    {
-        nmea_error("GPVTG parse error!");
-        return 0;
-    }
-
-    if( pack->dir_t != 'T' ||
-        pack->dec_m != 'M' ||
-        pack->spn_n != 'N' ||
-        pack->spk_k != 'K')
-    {
-        nmea_error("GPVTG parse error (format error)!");
-        return 0;
-    }
-
-    return 1;
-}
-
-/**
- * \brief Fill nmeaINFO structure by GGA packet data.
- * @param pack a pointer of packet structure.
- * @param info a pointer of summary information structure.
- */
-void nmea_GPGGA2info(nmeaGPGGA *pack, nmeaINFO *info)
-{
-    //NMEA_ASSERT(pack && info);
-
-    info->utc.hour = pack->utc.hour;
-    info->utc.min = pack->utc.min;
-    info->utc.sec = pack->utc.sec;
-    info->utc.hsec = pack->utc.hsec;
-    info->sig = pack->sig;
-    info->HDOP = pack->HDOP;
-    info->elv = pack->elv;
-    info->lat = ((pack->ns == 'N')?pack->lat:-(pack->lat));
-    info->lon = ((pack->ew == 'E')?pack->lon:-(pack->lon));
-    info->smask |= GPGGA;
-}
-
-/**
- * \brief Fill nmeaINFO structure by GSA packet data.
- * @param pack a pointer of packet structure.
- * @param info a pointer of summary information structure.
- */
-void nmea_GPGSA2info(nmeaGPGSA *pack, nmeaINFO *info)
-{
-    int i, j, nuse = 0;
-
-    //NMEA_ASSERT(pack && info);
-
-    info->fix = pack->fix_type;
-    info->PDOP = pack->PDOP;
-    info->HDOP = pack->HDOP;
-    info->VDOP = pack->VDOP;
-
-    for(i = 0; i < NMEA_MAXSAT; ++i)
-    {
-        for(j = 0; j < info->satinfo.inview; ++j)
-        {
-            if(pack->sat_prn[i] && pack->sat_prn[i] == info->satinfo.sat[j].id)
-            {
-                info->satinfo.sat[j].in_use = 1;
-                nuse++;
-            }
-        }
-    }
-
-    info->satinfo.inuse = nuse;
-    info->smask |= GPGSA;
-}
-
-/**
- * \brief Fill nmeaINFO structure by GSV packet data.
- * @param pack a pointer of packet structure.
- * @param info a pointer of summary information structure.
- */
-void nmea_GPGSV2info(nmeaGPGSV *pack, nmeaINFO *info)
-{
-    int isat, isi, nsat;
-
-    //NMEA_ASSERT(pack && info);
-
-    if(pack->pack_index > pack->pack_count ||
-        pack->pack_index * NMEA_SATINPACK > NMEA_MAXSAT)
-        return;
-
-    if(pack->pack_index < 1)
-        pack->pack_index = 1;
-
-    info->satinfo.inview = pack->sat_count;
-
-    nsat = (pack->pack_index - 1) * NMEA_SATINPACK;
-    nsat = (nsat + NMEA_SATINPACK > pack->sat_count)?pack->sat_count - nsat:NMEA_SATINPACK;
-
-    for(isat = 0; isat < nsat; ++isat)
-    {
-        isi = (pack->pack_index - 1) * NMEA_SATINPACK + isat;
-        info->satinfo.sat[isi].id = pack->sat_data[isat].id;
-        info->satinfo.sat[isi].elv = pack->sat_data[isat].elv;
-        info->satinfo.sat[isi].azimuth = pack->sat_data[isat].azimuth;
-        info->satinfo.sat[isi].sig = pack->sat_data[isat].sig;
-    }
-
-    info->smask |= GPGSV;
-}
-
-/**
- * \brief Fill nmeaINFO structure by RMC packet data.
- * @param pack a pointer of packet structure.
- * @param info a pointer of summary information structure.
- */
-void nmea_GPRMC2info(nmeaGPRMC *pack, nmeaINFO *info)
-{
-    //NMEA_ASSERT(pack && info);
-
-    if('A' == pack->status)
-    {
-        if(NMEA_SIG_BAD == info->sig)
-            info->sig = NMEA_SIG_MID;
-        if(NMEA_FIX_BAD == info->fix)
-            info->fix = NMEA_FIX_2D;
-    }
-    else if('V' == pack->status)
-    {
-        info->sig = NMEA_SIG_BAD;
-        info->fix = NMEA_FIX_BAD;
-    }
-
-
-    info->utc = pack->utc;
-    info->lat = ((pack->ns == 'N')?pack->lat:-(pack->lat));
-    info->lon = ((pack->ew == 'E')?pack->lon:-(pack->lon));
-    info->speed = pack->speed * NMEA_TUD_KNOTS;
-    info->direction = pack->direction;
-    info->smask |= GPRMC;
-}
-
-/**
- * \brief Fill nmeaINFO structure by VTG packet data.
- * @param pack a pointer of packet structure.
- * @param info a pointer of summary information structure.
- */
-void nmea_GPVTG2info(nmeaGPVTG *pack, nmeaINFO *info)
-{
-    //NMEA_ASSERT(pack && info);
-
-    info->direction = pack->dir;
-    info->declination = pack->dec;
-    info->speed = pack->spk;
-    info->smask |= GPVTG;
-}
diff --git a/apps/gps/nmealib/parser.c b/apps/gps/nmealib/parser.c
deleted file mode 100644
index f8b415866..000000000
--- a/apps/gps/nmealib/parser.c
+++ /dev/null
@@ -1,400 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: parser.c 17 2008-03-11 11:56:11Z xtimor $
- *
- */
-
-/**
- * \file parser.h
- */
-#include "nmea/tok.h"
-#include "nmea/parse.h"
-#include "nmea/parser.h"
-#include "nmea/context.h"
-
-#include <string.h>
-#include <stdlib.h>
-
-typedef struct _nmeaParserNODE
-{
-    int packType;
-    void *pack;
-    struct _nmeaParserNODE *next_node;
-
-} nmeaParserNODE;
-
-/*
- * high level
- */
-
-/**
- * \brief Initialization of parser object
- * @return true (1) - success or false (0) - fail
- */
-int nmea_parser_init(nmeaPARSER *parser)
-{
-    int resv = 0;
-    int buff_size = nmea_property()->parse_buff_size;
-
-    //NMEA_ASSERT(parser);
-
-    if(buff_size < NMEA_MIN_PARSEBUFF)
-        buff_size = NMEA_MIN_PARSEBUFF;
-
-    memset(parser, 0, sizeof(nmeaPARSER));
-
-    if(0 == (parser->buffer = malloc(buff_size)))
-        nmea_error("Insufficient memory!");
-    else
-    {
-        parser->buff_size = buff_size;
-        resv = 1;
-    }    
-
-    return resv;
-}
-
-/**
- * \brief Destroy parser object
- */
-void nmea_parser_destroy(nmeaPARSER *parser)
-{
-    //NMEA_ASSERT(parser && parser->buffer);
-    free(parser->buffer);
-    nmea_parser_queue_clear(parser);
-    memset(parser, 0, sizeof(nmeaPARSER));
-}
-
-/**
- * \brief Analysis of buffer and put results to information structure
- * @return Number of packets wos parsed
- */
-int nmea_parse(    
-    nmeaPARSER *parser,
-    const char *buff, int buff_sz,
-    nmeaINFO *info
-    )
-{
-    int ptype, nread = 0;
-    void *pack = 0;
-
-    //NMEA_ASSERT(parser && parser->buffer);
-
-    nmea_parser_push(parser, buff, buff_sz);
-
-    while(GPNON != (ptype = nmea_parser_pop(parser, &pack)))
-    {
-        nread++;
-
-        switch(ptype)
-        {
-        case GPGGA:
-            nmea_GPGGA2info((nmeaGPGGA *)pack, info);
-            break;
-        case GPGSA:
-            nmea_GPGSA2info((nmeaGPGSA *)pack, info);
-            break;
-        case GPGSV:
-            nmea_GPGSV2info((nmeaGPGSV *)pack, info);
-            break;
-        case GPRMC:
-            nmea_GPRMC2info((nmeaGPRMC *)pack, info);
-            break;
-        case GPVTG:
-            nmea_GPVTG2info((nmeaGPVTG *)pack, info);
-            break;
-        };
-
-        free(pack);
-    }
-
-    return nread;
-}
-
-/*
- * low level
- */
-
-int nmea_parser_real_push(nmeaPARSER *parser, const char *buff, int buff_sz)
-{
-    int nparsed = 0, crc, sen_sz, ptype;
-    nmeaParserNODE *node = 0;
-
-    //NMEA_ASSERT(parser && parser->buffer);
-
-    /* clear unuse buffer (for debug) */
-    /*
-    memset(
-        parser->buffer + parser->buff_use, 0,
-        parser->buff_size - parser->buff_use
-        );
-        */
-
-    /* add */
-    if(parser->buff_use + buff_sz >= parser->buff_size)
-        nmea_parser_buff_clear(parser);
-
-    memcpy(parser->buffer + parser->buff_use, buff, buff_sz);
-    parser->buff_use += buff_sz;
-
-    /* parse */
-    for(;;node = 0)
-    {
-        sen_sz = nmea_find_tail(
-            (const char *)parser->buffer + nparsed,
-            (int)parser->buff_use - nparsed, &crc);
-
-        if(!sen_sz)
-        {
-            if(nparsed)
-                memcpy(
-                parser->buffer,
-                parser->buffer + nparsed,
-                parser->buff_use -= nparsed);
-            break;
-        }
-        else if(crc >= 0)
-        {
-            ptype = nmea_pack_type(
-                (const char *)parser->buffer + nparsed + 1,
-                parser->buff_use - nparsed - 1);
-
-            if(0 == (node = malloc(sizeof(nmeaParserNODE))))
-                goto mem_fail;
-
-            node->pack = 0;
-
-            switch(ptype)
-            {
-            case GPGGA:
-                if(0 == (node->pack = malloc(sizeof(nmeaGPGGA))))
-                    goto mem_fail;
-                node->packType = GPGGA;
-                if(!nmea_parse_GPGGA(
-                    (const char *)parser->buffer + nparsed,
-                    sen_sz, (nmeaGPGGA *)node->pack))
-                {
-                    free(node);
-                    node = 0;
-                }
-                break;
-            case GPGSA:
-                if(0 == (node->pack = malloc(sizeof(nmeaGPGSA))))
-                    goto mem_fail;
-                node->packType = GPGSA;
-                if(!nmea_parse_GPGSA(
-                    (const char *)parser->buffer + nparsed,
-                    sen_sz, (nmeaGPGSA *)node->pack))
-                {
-                    free(node);
-                    node = 0;
-                }
-                break;
-            case GPGSV:
-                if(0 == (node->pack = malloc(sizeof(nmeaGPGSV))))
-                    goto mem_fail;
-                node->packType = GPGSV;
-                if(!nmea_parse_GPGSV(
-                    (const char *)parser->buffer + nparsed,
-                    sen_sz, (nmeaGPGSV *)node->pack))
-                {
-                    free(node);
-                    node = 0;
-                }
-                break;
-            case GPRMC:
-                if(0 == (node->pack = malloc(sizeof(nmeaGPRMC))))
-                    goto mem_fail;
-                node->packType = GPRMC;
-                if(!nmea_parse_GPRMC(
-                    (const char *)parser->buffer + nparsed,
-                    sen_sz, (nmeaGPRMC *)node->pack))
-                {
-                    free(node);
-                    node = 0;
-                }
-                break;
-            case GPVTG:
-                if(0 == (node->pack = malloc(sizeof(nmeaGPVTG))))
-                    goto mem_fail;
-                node->packType = GPVTG;
-                if(!nmea_parse_GPVTG(
-                    (const char *)parser->buffer + nparsed,
-                    sen_sz, (nmeaGPVTG *)node->pack))
-                {
-                    free(node);
-                    node = 0;
-                }
-                break;
-            default:
-                free(node);
-                node = 0;
-                break;
-            };
-
-            if(node)
-            {
-                if(parser->end_node)
-                    ((nmeaParserNODE *)parser->end_node)->next_node = node;
-                parser->end_node = node;
-                if(!parser->top_node)
-                    parser->top_node = node;
-                node->next_node = 0;
-            }
-        }
-
-        nparsed += sen_sz;
-    }
-
-    return nparsed;
-
-mem_fail:
-    if(node)
-        free(node);
-
-    nmea_error("Insufficient memory!");
-
-    return -1;
-}
-
-/**
- * \brief Analysis of buffer and keep results into parser
- * @return Number of bytes wos parsed from buffer
- */
-int nmea_parser_push(nmeaPARSER *parser, const char *buff, int buff_sz)
-{
-    int nparse, nparsed = 0;
-
-    do
-    {
-        if(buff_sz > parser->buff_size)
-            nparse = parser->buff_size;
-        else
-            nparse = buff_sz;
-
-        nparsed += nmea_parser_real_push(
-            parser, buff, nparse);
-
-        buff_sz -= nparse;
-
-    } while(buff_sz);
-
-    return nparsed;
-}
-
-/**
- * \brief Get type of top packet keeped into parser
- * @return Type of packet
- * @see nmeaPACKTYPE
- */
-int nmea_parser_top(nmeaPARSER *parser)
-{
-    int retval = GPNON;
-    nmeaParserNODE *node = (nmeaParserNODE *)parser->top_node;
-
-    //NMEA_ASSERT(parser && parser->buffer);
-
-    if(node)
-        retval = node->packType;
-
-    return retval;
-}
-
-/**
- * \brief Withdraw top packet from parser
- * @return Received packet type
- * @see nmeaPACKTYPE
- */
-int nmea_parser_pop(nmeaPARSER *parser, void **pack_ptr)
-{
-    int retval = GPNON;
-    nmeaParserNODE *node = (nmeaParserNODE *)parser->top_node;
-
-    //NMEA_ASSERT(parser && parser->buffer);
-
-    if(node)
-    {
-        *pack_ptr = node->pack;
-        retval = node->packType;
-        parser->top_node = node->next_node;
-        if(!parser->top_node)
-            parser->end_node = 0;
-        free(node);
-    }
-
-    return retval;
-}
-
-/**
- * \brief Get top packet from parser without withdraw
- * @return Received packet type
- * @see nmeaPACKTYPE
- */
-int nmea_parser_peek(nmeaPARSER *parser, void **pack_ptr)
-{
-    int retval = GPNON;
-    nmeaParserNODE *node = (nmeaParserNODE *)parser->top_node;
-
-    //NMEA_ASSERT(parser && parser->buffer);
-
-    if(node)
-    {
-        *pack_ptr = node->pack;
-        retval = node->packType;
-    }
-
-    return retval;
-}
-
-/**
- * \brief Delete top packet from parser
- * @return Deleted packet type
- * @see nmeaPACKTYPE
- */
-int nmea_parser_drop(nmeaPARSER *parser)
-{
-    int retval = GPNON;
-    nmeaParserNODE *node = (nmeaParserNODE *)parser->top_node;
-
-    //NMEA_ASSERT(parser && parser->buffer);
-
-    if(node)
-    {
-        if(node->pack)
-            free(node->pack);
-        retval = node->packType;
-        parser->top_node = node->next_node;
-        if(!parser->top_node)
-            parser->end_node = 0;
-        free(node);
-    }
-
-    return retval;
-}
-
-/**
- * \brief Clear cache of parser
- * @return true (1) - success
- */
-int nmea_parser_buff_clear(nmeaPARSER *parser)
-{
-    //NMEA_ASSERT(parser && parser->buffer);
-    parser->buff_use = 0;
-    return 1;
-}
-
-/**
- * \brief Clear packets queue into parser
- * @return true (1) - success
- */
-int nmea_parser_queue_clear(nmeaPARSER *parser)
-{
-    //NMEA_ASSERT(parser);
-    while(parser->top_node)
-        nmea_parser_drop(parser);
-    return 1;
-}
diff --git a/apps/gps/nmealib/sentence.c b/apps/gps/nmealib/sentence.c
deleted file mode 100644
index a66393a4d..000000000
--- a/apps/gps/nmealib/sentence.c
+++ /dev/null
@@ -1,54 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: sentence.c 17 2008-03-11 11:56:11Z xtimor $
- *
- */
-
-#include "nmea/sentence.h"
-
-#include <string.h>
-
-void nmea_zero_GPGGA(nmeaGPGGA *pack)
-{
-    memset(pack, 0, sizeof(nmeaGPGGA));
-    nmea_time_now(&pack->utc);
-    pack->ns = 'N';
-    pack->ew = 'E';
-    pack->elv_units = 'M';
-    pack->diff_units = 'M';
-}
-
-void nmea_zero_GPGSA(nmeaGPGSA *pack)
-{
-    memset(pack, 0, sizeof(nmeaGPGSA));
-    pack->fix_mode = 'A';
-    pack->fix_type = NMEA_FIX_BAD;
-}
-
-void nmea_zero_GPGSV(nmeaGPGSV *pack)
-{
-    memset(pack, 0, sizeof(nmeaGPGSV));
-}
-
-void nmea_zero_GPRMC(nmeaGPRMC *pack)
-{
-    memset(pack, 0, sizeof(nmeaGPRMC));
-    nmea_time_now(&pack->utc);
-    pack->status = 'V';
-    pack->ns = 'N';
-    pack->ew = 'E';
-    pack->declin_ew = 'E';
-}
-
-void nmea_zero_GPVTG(nmeaGPVTG *pack)
-{
-    memset(pack, 0, sizeof(nmeaGPVTG));
-    pack->dir_t = 'T';
-    pack->dec_m = 'M';
-    pack->spn_n = 'N';
-    pack->spk_k = 'K';
-}
diff --git a/apps/gps/nmealib/time.c b/apps/gps/nmealib/time.c
deleted file mode 100644
index a24319630..000000000
--- a/apps/gps/nmealib/time.c
+++ /dev/null
@@ -1,63 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: time.c 4 2007-08-27 13:11:03Z xtimor $
- *
- */
-
-/*! \file time.h */
-
-#include "nmea/time.h"
-
-#ifdef NMEA_WIN
-#   pragma warning(disable: 4201)
-#   pragma warning(disable: 4214)
-#   pragma warning(disable: 4115)
-#   include <windows.h>
-#   pragma warning(default: 4201)
-#   pragma warning(default: 4214)
-#   pragma warning(default: 4115)
-#else
-#   include <time.h>
-#endif
-
-#ifdef NMEA_WIN
-
-void nmea_time_now(nmeaTIME *stm)
-{
-    SYSTEMTIME st;
-
-    GetSystemTime(&st);
-
-    stm->year = st.wYear - 1900;
-    stm->mon = st.wMonth - 1;
-    stm->day = st.wDay;
-    stm->hour = st.wHour;
-    stm->min = st.wMinute;
-    stm->sec = st.wSecond;
-    stm->hsec = st.wMilliseconds / 10;
-}
-
-#else /* NMEA_WIN */
-
-void nmea_time_now(nmeaTIME *stm)
-{
-    time_t lt;
-    struct tm *tt;
-
-    time(&lt);
-    tt = gmtime(&lt);
-
-    stm->year = tt->tm_year;
-    stm->mon = tt->tm_mon;
-    stm->day = tt->tm_mday;
-    stm->hour = tt->tm_hour;
-    stm->min = tt->tm_min;
-    stm->sec = tt->tm_sec;
-    stm->hsec = 0;
-}
-
-#endif
diff --git a/apps/gps/nmealib/tok.c b/apps/gps/nmealib/tok.c
deleted file mode 100644
index c7cf2f4dc..000000000
--- a/apps/gps/nmealib/tok.c
+++ /dev/null
@@ -1,267 +0,0 @@
-/*
- *
- * NMEA library
- * URL: http://nmea.sourceforge.net
- * Author: Tim (xtimor@gmail.com)
- * Licence: http://www.gnu.org/licenses/lgpl.html
- * $Id: tok.c 17 2008-03-11 11:56:11Z xtimor $
- *
- */
-
-/*! \file tok.h */
-
-#include "nmea/tok.h"
-
-#include <stdarg.h>
-#include <stdlib.h>
-#include <stdio.h>
-#include <ctype.h>
-#include <string.h>
-#include <limits.h>
-
-#define NMEA_TOKS_COMPARE   (1)
-#define NMEA_TOKS_PERCENT   (2)
-#define NMEA_TOKS_WIDTH     (3)
-#define NMEA_TOKS_TYPE      (4)
-
-//memchr replacement
-void *
-memchr(s, c, n)
-    const void *s;
-    unsigned char c;
-    size_t n;
-{
-    if (n != 0) {
-        const unsigned char *p = s;
-
-        do {
-                if (*p++ == c)
-                        return ((void *)(p - 1));
-        } while (--n != 0);
-    }
-    return (NULL);
-}
-
-
-/**
- * \brief Calculate control sum of binary buffer
- */
-int nmea_calc_crc(const char *buff, int buff_sz)
-{
-    int chsum = 0,
-        it;
-
-    for(it = 0; it < buff_sz; ++it)
-        chsum ^= (int)buff[it];
-
-    return chsum;
-}
-
-/**
- * \brief Convert string to number
- */
-int nmea_atoi(const char *str, int str_sz, int radix)
-{
-    char *tmp_ptr;
-    char buff[NMEA_CONVSTR_BUF];
-    int res = 0;
-
-    if(str_sz < NMEA_CONVSTR_BUF)
-    {
-        memcpy(&buff[0], str, str_sz);
-        buff[str_sz] = '\0';
-        res = strtol(&buff[0], &tmp_ptr, radix);
-    }
-    return res;
-}
-
-/**
- * \brief Convert string to fraction number
- */
-float nmea_atof(const char *str, int str_sz)
-{
-    char *tmp_ptr;
-    char buff[NMEA_CONVSTR_BUF];
-    float res = 0;
-
-    if(str_sz < NMEA_CONVSTR_BUF)
-    {
-        memcpy(&buff[0], str, str_sz);
-        buff[str_sz] = '\0';
-        res = (float)strtod(&buff[0], &tmp_ptr);
-    }
-    return res;
-}
-
-/**
- * \brief Formating string (like standart printf) with CRC tail (*CRC)
- */
-int nmea_printf(char *buff, int buff_sz, const char *format, ...)
-{
-    int retval, add = 0;
-    va_list arg_ptr;
-
-    if(buff_sz <= 0)
-        return 0;
-
-    va_start(arg_ptr, format);
-
-    retval = NMEA_POSIX(vsnprintf)(buff, buff_sz, format, arg_ptr);
-
-    if(retval > 0)
-    {
-        add = NMEA_POSIX(snprintf)(
-            buff + retval, buff_sz - retval, "*%02x\r\n",
-            nmea_calc_crc(buff + 1, retval - 1));
-    }
-
-    retval += add;
-
-    if(retval < 0 || retval > buff_sz)
-    {
-        memset(buff, ' ', buff_sz);
-        retval = buff_sz;
-    }
-
-    va_end(arg_ptr);
-
-    return retval;
-}
-
-/**
- * \brief Analyse string (specificate for NMEA sentences)
- */
-int nmea_scanf(const char *buff, int buff_sz, const char *format, ...)
-{
-    const char *beg_tok;
-    const char *end_buf = buff + buff_sz;
-
-    va_list arg_ptr;
-    int tok_type = NMEA_TOKS_COMPARE;
-    int width = 0;
-    const char *beg_fmt = 0;
-    int snum = 0, unum = 0;
-
-    int tok_count = 0;
-    void *parg_target;
-
-    va_start(arg_ptr, format);
-    
-    for(; *format && buff < end_buf; ++format)
-    {
-        switch(tok_type)
-        {
-        case NMEA_TOKS_COMPARE:
-            if('%' == *format)
-                tok_type = NMEA_TOKS_PERCENT;
-            else if(*buff++ != *format)
-                goto fail;
-            break;
-        case NMEA_TOKS_PERCENT:
-            width = 0;
-            beg_fmt = format;
-            tok_type = NMEA_TOKS_WIDTH;
-        case NMEA_TOKS_WIDTH:
-            if(isdigit(*format))
-                break;
-            {
-                tok_type = NMEA_TOKS_TYPE;
-                if(format > beg_fmt)
-                    width = nmea_atoi(beg_fmt, (int)(format - beg_fmt), 10);
-            }
-        case NMEA_TOKS_TYPE:
-            beg_tok = buff;
-
-            if(!width && ('c' == *format || 'C' == *format) && *buff != format[1])
-                width = 1;
-
-            if(width)
-            {
-                if(buff + width <= end_buf)
-                    buff += width;
-                else
-                    goto fail;
-            }
-            else
-            {
-                if(!format[1] || (0 == (buff = (char *)memchr(buff, format[1], end_buf - buff))))
-                    buff = end_buf;
-            }
-
-            if(buff > end_buf)
-                goto fail;
-
-            tok_type = NMEA_TOKS_COMPARE;
-            tok_count++;
-
-            parg_target = 0; width = (int)(buff - beg_tok);
-
-            switch(*format)
-            {
-            case 'c':
-            case 'C':
-                parg_target = (void *)va_arg(arg_ptr, char *);
-                if(width && 0 != (parg_target))
-                    *((char *)parg_target) = *beg_tok;
-                break;
-            case 's':
-            case 'S':
-                parg_target = (void *)va_arg(arg_ptr, char *);
-                if(width && 0 != (parg_target))
-                {
-                    memcpy(parg_target, beg_tok, width);
-                    ((char *)parg_target)[width] = '\0';
-                }
-                break;
-            case 'f':
-            case 'g':
-            case 'G':
-            case 'e':
-            case 'E':
-                parg_target = (void *)va_arg(arg_ptr, float *);
-                if(width && 0 != (parg_target))
-                    *((float *)parg_target) = nmea_atof(beg_tok, width);
-                break;
-            };
-
-            if(parg_target)
-                break;
-            if(0 == (parg_target = (void *)va_arg(arg_ptr, int *)))
-                break;
-            if(!width)
-                break;
-
-            switch(*format)
-            {
-            case 'd':
-            case 'i':
-                snum = nmea_atoi(beg_tok, width, 10);
-                memcpy(parg_target, &snum, sizeof(int));
-                break;
-            case 'u':
-                unum = nmea_atoi(beg_tok, width, 10);
-                memcpy(parg_target, &unum, sizeof(unsigned int));
-                break;
-            case 'x':
-            case 'X':
-                unum = nmea_atoi(beg_tok, width, 16);
-                memcpy(parg_target, &unum, sizeof(unsigned int));
-                break;
-            case 'o':
-                unum = nmea_atoi(beg_tok, width, 8);
-                memcpy(parg_target, &unum, sizeof(unsigned int));
-                break;
-            default:
-                goto fail;
-            };
-
-            break;
-        };
-    }
-
-fail:
-
-    va_end(arg_ptr);
-
-    return tok_count;
-}
diff --git a/apps/gps/ubx.c b/apps/gps/ubx.c
deleted file mode 100644
index b9f8a28a0..000000000
--- a/apps/gps/ubx.c
+++ /dev/null
@@ -1,1022 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
- *           Julian Oes <joes@student.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/* @file U-Blox protocol implementation */
-
-
-#include "ubx.h"
-#include "gps.h"
-#include <sys/prctl.h>
-#include <poll.h>
-#include <drivers/drv_hrt.h>
-#include <uORB/uORB.h>
-#include <string.h>
-#include <stdbool.h>
-#include <fcntl.h>
-#include <uORB/topics/vehicle_gps_position.h>
-#include <mavlink/mavlink_log.h>
-
-#define UBX_HEALTH_SUCCESS_COUNTER_LIMIT 2
-#define UBX_HEALTH_FAIL_COUNTER_LIMIT 3
-#define UBX_HEALTH_PROBE_COUNTER_LIMIT 4
-
-#define UBX_BUFFER_SIZE 500
-
-extern bool gps_mode_try_all;
-extern bool gps_mode_success;
-extern bool terminate_gps_thread;
-extern bool gps_baud_try_all;
-extern bool gps_verbose;
-extern int current_gps_speed;
-
-pthread_mutex_t *ubx_mutex;
-gps_bin_ubx_state_t *ubx_state;
-enum UBX_CONFIG_STATE ubx_config_state;
-static struct vehicle_gps_position_s *ubx_gps;
-
-
-
-void ubx_decode_init(void)
-{
-	ubx_state->ck_a = 0;
-	ubx_state->ck_b = 0;
-	ubx_state->rx_count = 0;
-	ubx_state->decode_state = UBX_DECODE_UNINIT;
-	ubx_state->message_class = CLASS_UNKNOWN;
-	ubx_state->message_id = ID_UNKNOWN;
-	ubx_state->payload_size = 0;
-	ubx_state->print_errors = false;
-}
-
-void ubx_checksum(uint8_t b, uint8_t *ck_a, uint8_t *ck_b)
-{
-	*(ck_a) = *(ck_a) + b;
-	*(ck_b) = *(ck_b) + *(ck_a);
-}
-
-
-
-
-
-int ubx_parse(uint8_t b,  char *gps_rx_buffer)
-{
-	//printf("b=%x\n",b);
-	if (ubx_state->decode_state == UBX_DECODE_UNINIT) {
-
-		if (b == UBX_SYNC_1) {
-			ubx_state->decode_state = UBX_DECODE_GOT_SYNC1;
-		}
-
-	} else if (ubx_state->decode_state == UBX_DECODE_GOT_SYNC1) {
-		if (b == UBX_SYNC_2) {
-			ubx_state->decode_state = UBX_DECODE_GOT_SYNC2;
-
-		} else {
-			// Second start symbol was wrong, reset state machine
-			ubx_decode_init();
-		}
-
-	} else if (ubx_state->decode_state == UBX_DECODE_GOT_SYNC2) {
-		// Add to checksum
-		ubx_checksum(b, &(ubx_state->ck_a), &(ubx_state->ck_b));
-
-		//check for known class
-		switch (b) {
-		case UBX_CLASS_ACK:
-			ubx_state->decode_state = UBX_DECODE_GOT_CLASS;
-			ubx_state->message_class = ACK;
-			break;
-
-		case UBX_CLASS_NAV:
-			ubx_state->decode_state = UBX_DECODE_GOT_CLASS;
-			ubx_state->message_class = NAV;
-			break;
-
-		case UBX_CLASS_RXM:
-			ubx_state->decode_state = UBX_DECODE_GOT_CLASS;
-			ubx_state->message_class = RXM;
-			break;
-
-		case UBX_CLASS_CFG:
-			ubx_state->decode_state = UBX_DECODE_GOT_CLASS;
-			ubx_state->message_class = CFG;
-			break;
-		default: //unknown class: reset state machine
-			ubx_decode_init();
-			break;
-		}
-
-	} else if (ubx_state->decode_state == UBX_DECODE_GOT_CLASS) {
-		// Add to checksum
-		ubx_checksum(b, &(ubx_state->ck_a), &(ubx_state->ck_b));
-
-		//depending on class look for message id
-		switch (ubx_state->message_class) {
-		case NAV:
-			switch (b) {
-			case UBX_MESSAGE_NAV_POSLLH: //NAV-POSLLH: Geodetic Position Solution
-				ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID;
-				ubx_state->message_id = NAV_POSLLH;
-				break;
-
-			case UBX_MESSAGE_NAV_SOL:
-				ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID;
-				ubx_state->message_id = NAV_SOL;
-				break;
-
-			case UBX_MESSAGE_NAV_TIMEUTC:
-				ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID;
-				ubx_state->message_id = NAV_TIMEUTC;
-				break;
-
-			case UBX_MESSAGE_NAV_DOP:
-				ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID;
-				ubx_state->message_id = NAV_DOP;
-				break;
-
-			case UBX_MESSAGE_NAV_SVINFO:
-				ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID;
-				ubx_state->message_id = NAV_SVINFO;
-				break;
-
-			case UBX_MESSAGE_NAV_VELNED:
-				ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID;
-				ubx_state->message_id = NAV_VELNED;
-				break;
-
-			default: //unknown class: reset state machine, should not happen
-				ubx_decode_init();
-				break;
-			}
-
-			break;
-
-		case RXM:
-			switch (b) {
-			case UBX_MESSAGE_RXM_SVSI:
-				ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID;
-				ubx_state->message_id = RXM_SVSI;
-				break;
-
-			default: //unknown class: reset state machine, should not happen
-				ubx_decode_init();
-				break;
-			}
-			break;
-
-		case CFG:
-			switch (b) {
-			case UBX_MESSAGE_CFG_NAV5:
-				ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID;
-				ubx_state->message_id = CFG_NAV5;
-				break;
-
-			default: //unknown class: reset state machine, should not happen
-				ubx_decode_init();
-				break;
-			}
-			break;
-
-		case ACK:
-			switch (b) {
-			case UBX_MESSAGE_ACK_ACK:
-				ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID;
-				ubx_state->message_id = ACK_ACK;
-				break;
-			case UBX_MESSAGE_ACK_NAK:
-				ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID;
-				ubx_state->message_id = ACK_NAK;
-				break;
-			default: //unknown class: reset state machine, should not happen
-				ubx_decode_init();
-				break;
-			}
-			break;
-		default: //should not happen
-			ubx_decode_init();
-			break;
-		}
-
-	} else if (ubx_state->decode_state == UBX_DECODE_GOT_MESSAGEID) {
-		// Add to checksum
-		ubx_checksum(b, &(ubx_state->ck_a), &(ubx_state->ck_b));
-
-		ubx_state->payload_size = b;
-		ubx_state->decode_state = UBX_DECODE_GOT_LENGTH1;
-
-	} else if (ubx_state->decode_state == UBX_DECODE_GOT_LENGTH1) {
-		// Add to checksum
-		ubx_checksum(b, &(ubx_state->ck_a), &(ubx_state->ck_b));
-
-		ubx_state->payload_size += b << 8;
-		ubx_state->decode_state = UBX_DECODE_GOT_LENGTH2;
-
-	} else if (ubx_state->decode_state == UBX_DECODE_GOT_LENGTH2) {
-		uint8_t ret = 0;
-
-		// Add to checksum if not yet at checksum byte
-		if (ubx_state->rx_count < ubx_state->payload_size) ubx_checksum(b, &(ubx_state->ck_a), &(ubx_state->ck_b));
-
-		// Fill packet buffer
-		gps_rx_buffer[ubx_state->rx_count] = b;
-
-		//if whole payload + checksum is in buffer:
-		if (ubx_state->rx_count >= ubx_state->payload_size + 1) {
-			//convert to correct struct
-			switch (ubx_state->message_id) { //this enum is unique for all ids --> no need to check the class
-			case NAV_POSLLH: {
-//					printf("GOT NAV_POSLLH MESSAGE\n");
-					gps_bin_nav_posllh_packet_t *packet = (gps_bin_nav_posllh_packet_t *) gps_rx_buffer;
-
-					//Check if checksum is valid and the store the gps information
-					if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) {
-						ubx_gps->lat = packet->lat;
-						ubx_gps->lon = packet->lon;
-						ubx_gps->alt = packet->height_msl;
-
-						ubx_gps->counter_pos_valid++;
-
-						ubx_gps->timestamp = hrt_absolute_time();
-						ubx_gps->counter++;
-
-						//pthread_mutex_lock(ubx_mutex);
-						ubx_state->last_message_timestamps[NAV_POSLLH - 1] = hrt_absolute_time();
-						//pthread_mutex_unlock(ubx_mutex);
-						ret = 1;
-
-					} else {
-						if (gps_verbose) printf("[gps] NAV_POSLLH: checksum invalid\n");
-
-						ret = 0;
-					}
-
-					// Reset state machine to decode next packet
-					ubx_decode_init();
-					return ret;
-
-					break;
-				}
-
-			case NAV_SOL: {
-//					printf("GOT NAV_SOL MESSAGE\n");
-					gps_bin_nav_sol_packet_t *packet = (gps_bin_nav_sol_packet_t *) gps_rx_buffer;
-
-					//Check if checksum is valid and the store the gps information
-					if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) {
-
-						ubx_gps->fix_type = packet->gpsFix;
-
-						ubx_gps->timestamp = hrt_absolute_time();
-						ubx_gps->counter++;
-						ubx_gps->s_variance = packet->sAcc;
-						ubx_gps->p_variance = packet->pAcc;
-
-						//pthread_mutex_lock(ubx_mutex);
-						ubx_state->last_message_timestamps[NAV_SOL - 1] = hrt_absolute_time();
-						//pthread_mutex_unlock(ubx_mutex);
-						ret = 1;
-
-					} else {
-						if (gps_verbose) printf("[gps] NAV_SOL: checksum invalid\n");
-
-						ret = 0;
-					}
-
-					// Reset state machine to decode next packet
-					ubx_decode_init();
-					return ret;
-
-					break;
-				}
-
-			case NAV_DOP: {
-//					printf("GOT NAV_DOP MESSAGE\n");
-					gps_bin_nav_dop_packet_t *packet = (gps_bin_nav_dop_packet_t *) gps_rx_buffer;
-
-					//Check if checksum is valid and the store the gps information
-					if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) {
-
-						ubx_gps->eph =  packet->hDOP;
-						ubx_gps->epv =  packet->vDOP;
-
-						ubx_gps->timestamp = hrt_absolute_time();
-						ubx_gps->counter++;
-
-
-						//pthread_mutex_lock(ubx_mutex);
-						ubx_state->last_message_timestamps[NAV_DOP - 1] = hrt_absolute_time();
-						//pthread_mutex_unlock(ubx_mutex);
-						ret = 1;
-
-					} else {
-						if (gps_verbose) printf("[gps] NAV_DOP: checksum invalid\n");
-
-						ret = 0;
-					}
-
-					// Reset state machine to decode next packet
-					ubx_decode_init();
-					return ret;
-
-					break;
-				}
-
-			case NAV_TIMEUTC: {
-//					printf("GOT NAV_TIMEUTC MESSAGE\n");
-					gps_bin_nav_timeutc_packet_t *packet = (gps_bin_nav_timeutc_packet_t *) gps_rx_buffer;
-
-					//Check if checksum is valid and the store the gps information
-					if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) {
-						//convert to unix timestamp
-						struct tm timeinfo;
-						timeinfo.tm_year = packet->year - 1900;
-						timeinfo.tm_mon = packet->month - 1;
-						timeinfo.tm_mday = packet->day;
-						timeinfo.tm_hour = packet->hour;
-						timeinfo.tm_min = packet->min;
-						timeinfo.tm_sec = packet->sec;
-
-						time_t epoch = mktime(&timeinfo);
-
-//						printf("%d.%d.%d %d:%d:%d:%d\n", timeinfo.tm_year, timeinfo.tm_mon, timeinfo.tm_mday, timeinfo.tm_hour, timeinfo.tm_min, timeinfo.tm_sec, packet->time_nanoseconds);
-
-
-
-						ubx_gps->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this
-						ubx_gps->time_gps_usec += (uint64_t)(packet->time_nanoseconds * 1e-3f);
-
-						ubx_gps->timestamp = hrt_absolute_time();
-						ubx_gps->counter++;
-
-
-						//pthread_mutex_lock(ubx_mutex);
-						ubx_state->last_message_timestamps[NAV_TIMEUTC - 1] = hrt_absolute_time();
-						//pthread_mutex_unlock(ubx_mutex);
-						ret = 1;
-
-					} else {
-						if (gps_verbose) printf("\t[gps] NAV_TIMEUTC: checksum invalid\n");
-
-						ret = 0;
-					}
-
-					// Reset state machine to decode next packet
-					ubx_decode_init();
-					return ret;
-
-					break;
-				}
-
-			case NAV_SVINFO: {
-//					printf("GOT NAV_SVINFO MESSAGE\n");
-
-					//this is a more complicated message: the length depends on the number of satellites. This number is extracted from the first part of the message
-					const int length_part1 = 8;
-					char gps_rx_buffer_part1[length_part1];
-					memcpy(gps_rx_buffer_part1, gps_rx_buffer, length_part1);
-					gps_bin_nav_svinfo_part1_packet_t *packet_part1 = (gps_bin_nav_svinfo_part1_packet_t *) gps_rx_buffer_part1;
-
-					//read checksum
-					const int length_part3 = 2;
-					char gps_rx_buffer_part3[length_part3];
-					memcpy(gps_rx_buffer_part3, &(gps_rx_buffer[ubx_state->rx_count - 1]), length_part3);
-					gps_bin_nav_svinfo_part3_packet_t *packet_part3 = (gps_bin_nav_svinfo_part3_packet_t *) gps_rx_buffer_part3;
-
-					//Check if checksum is valid and then store the gps information
-					if (ubx_state->ck_a == packet_part3->ck_a && ubx_state->ck_b == packet_part3->ck_b) {
-						//definitions needed to read numCh elements from the buffer:
-						const int length_part2 = 12;
-						gps_bin_nav_svinfo_part2_packet_t *packet_part2;
-						char gps_rx_buffer_part2[length_part2]; //for temporal storage
-
-
-						int i;
-
-						for (i = 0; i < packet_part1->numCh; i++) { //for each channel
-
-							/* Get satellite information from the buffer */
-
-							memcpy(gps_rx_buffer_part2, &(gps_rx_buffer[length_part1 + i * length_part2]), length_part2);
-							packet_part2 = (gps_bin_nav_svinfo_part2_packet_t *) gps_rx_buffer_part2;
-
-
-							/* Write satellite information in the global storage */
-
-							ubx_gps->satellite_prn[i] = packet_part2->svid;
-
-							//if satellite information is healthy store the data
-							uint8_t unhealthy = packet_part2->flags & 1 << 4; //flags is a bitfield
-
-							if (!unhealthy) {
-
-								if ((packet_part2->flags) & 1) { //flags is a bitfield
-									ubx_gps->satellite_used[i] = 1;
-
-								} else {
-									ubx_gps->satellite_used[i] = 0;
-								}
-
-								ubx_gps->satellite_snr[i] = packet_part2->cno;
-								ubx_gps->satellite_elevation[i] = (uint8_t)(packet_part2->elev);
-								ubx_gps->satellite_azimuth[i] = (uint8_t)((float)packet_part2->azim * 255.0f / 360.0f);
-
-							} else {
-								ubx_gps->satellite_used[i] = 0;
-								ubx_gps->satellite_snr[i] = 0;
-								ubx_gps->satellite_elevation[i] = 0;
-								ubx_gps->satellite_azimuth[i] = 0;
-							}
-
-						}
-
-						for (i = packet_part1->numCh; i < 20; i++) { //these channels are unused
-							/* Unused channels have to be set to zero for e.g. MAVLink */
-							ubx_gps->satellite_prn[i] = 0;
-							ubx_gps->satellite_used[i] = 0;
-							ubx_gps->satellite_snr[i] = 0;
-							ubx_gps->satellite_elevation[i] = 0;
-							ubx_gps->satellite_azimuth[i] = 0;
-						}
-
-						/* set flag if any sat info is available */
-						if (!packet_part1->numCh > 0) {
-							ubx_gps->satellite_info_available = 1;
-
-						} else {
-							ubx_gps->satellite_info_available = 0;
-						}
-
-						ubx_gps->timestamp = hrt_absolute_time();
-						ubx_gps->counter++;
-
-
-						//pthread_mutex_lock(ubx_mutex);
-						ubx_state->last_message_timestamps[NAV_SVINFO - 1] = hrt_absolute_time();
-						//pthread_mutex_unlock(ubx_mutex);
-						ret = 1;
-
-					} else {
-						if (gps_verbose) printf("\t[gps] NAV_SVINFO: checksum invalid\n");
-
-						ret = 0;
-					}
-
-					// Reset state machine to decode next packet
-					ubx_decode_init();
-					return ret;
-
-					break;
-				}
-
-			case NAV_VELNED: {
-//					printf("GOT NAV_VELNED MESSAGE\n");
-					gps_bin_nav_velned_packet_t *packet = (gps_bin_nav_velned_packet_t *) gps_rx_buffer;
-
-					//Check if checksum is valid and the store the gps information
-					if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) {
-
-						ubx_gps->vel = (uint16_t)packet->speed;
-						ubx_gps->vel_n = packet->velN / 100.0f;
-						ubx_gps->vel_e = packet->velE / 100.0f;
-						ubx_gps->vel_d = packet->velD / 100.0f;
-						ubx_gps->vel_ned_valid = true;
-						ubx_gps->cog = (uint16_t)((float)(packet->heading) * 1e-3f);
-
-						ubx_gps->timestamp = hrt_absolute_time();
-						ubx_gps->counter++;
-
-
-						//pthread_mutex_lock(ubx_mutex);
-						ubx_state->last_message_timestamps[NAV_VELNED - 1] = hrt_absolute_time();
-						//pthread_mutex_unlock(ubx_mutex);
-						ret = 1;
-
-					} else {
-						if (gps_verbose) printf("[gps] NAV_VELNED: checksum invalid\n");
-
-						ret = 0;
-					}
-
-					// Reset state machine to decode next packet
-					ubx_decode_init();
-					return ret;
-
-					break;
-				}
-
-			case RXM_SVSI: {
-//					printf("GOT RXM_SVSI MESSAGE\n");
-					const int length_part1 = 7;
-					char gps_rx_buffer_part1[length_part1];
-					memcpy(gps_rx_buffer_part1, gps_rx_buffer, length_part1);
-					gps_bin_rxm_svsi_packet_t *packet = (gps_bin_rxm_svsi_packet_t *) gps_rx_buffer_part1;
-
-					//Check if checksum is valid and the store the gps information
-					if (ubx_state->ck_a == gps_rx_buffer[ubx_state->rx_count - 1] && ubx_state->ck_b == gps_rx_buffer[ubx_state->rx_count]) {
-
-						ubx_gps->satellites_visible = packet->numVis;
-
-						ubx_gps->timestamp = hrt_absolute_time();
-						ubx_gps->counter++;
-
-
-						//pthread_mutex_lock(ubx_mutex);
-						ubx_state->last_message_timestamps[RXM_SVSI - 1] = hrt_absolute_time();
-						//pthread_mutex_unlock(ubx_mutex);
-						ret = 1;
-
-					} else {
-						if (gps_verbose) printf("[gps] RXM_SVSI: checksum invalid\n");
-
-						ret = 0;
-					}
-
-					// Reset state machine to decode next packet
-					ubx_decode_init();
-					return ret;
-
-					break;
-				}
-
-			case ACK_ACK: {
-//				printf("GOT ACK_ACK\n");
-				gps_bin_ack_ack_packet_t *packet = (gps_bin_ack_ack_packet_t *) gps_rx_buffer;
-
-				//Check if checksum is valid
-				if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) {
-
-					switch (ubx_config_state) {
-						case UBX_CONFIG_STATE_PRT:
-							if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_PRT)
-								ubx_config_state++;
-							break;
-						case UBX_CONFIG_STATE_NAV5:
-							if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_NAV5)
-								ubx_config_state++;
-							break;
-						case UBX_CONFIG_STATE_MSG_NAV_POSLLH:
-						case UBX_CONFIG_STATE_MSG_NAV_TIMEUTC:
-						case UBX_CONFIG_STATE_MSG_NAV_DOP:
-						case UBX_CONFIG_STATE_MSG_NAV_SVINFO:
-						case UBX_CONFIG_STATE_MSG_NAV_SOL:
-						case UBX_CONFIG_STATE_MSG_NAV_VELNED:
-						case UBX_CONFIG_STATE_MSG_RXM_SVSI:
-							if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_MSG)
-								ubx_config_state++;
-							break;
-						default:
-							break;
-					}
-
-
-					ret = 1;
-
-				} else {
-					if (gps_verbose) printf("[gps] ACK_ACK: checksum invalid\n");
-
-					ret = 0;
-				}
-
-				// Reset state machine to decode next packet
-				ubx_decode_init();
-				return ret;
-
-				break;
-			}
-
-			case ACK_NAK: {
-//				printf("GOT ACK_NAK\n");
-				gps_bin_ack_nak_packet_t *packet = (gps_bin_ack_nak_packet_t *) gps_rx_buffer;
-
-				//Check if checksum is valid
-				if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) {
-
-					if (gps_verbose) printf("[gps] the ubx gps returned: not acknowledged\n");
-					ret = 1;
-
-				} else {
-					if (gps_verbose) printf("[gps] ACK_NAK: checksum invalid\n");
-
-					ret = 0;
-				}
-
-				// Reset state machine to decode next packet
-				ubx_decode_init();
-				return ret;
-
-				break;
-			}
-
-			default: //something went wrong
-				ubx_decode_init();
-
-				break;
-			}
-		}
-
-		(ubx_state->rx_count)++;
-
-
-
-	}
-
-
-	return 0;     // no valid packet found
-
-}
-
-void calculate_ubx_checksum(uint8_t *message, uint8_t length)
-{
-	uint8_t ck_a = 0;
-	uint8_t ck_b = 0;
-
-	int i;
-
-	for (i = 2; i < length - 2; i++) {
-		ck_a = ck_a + message[i];
-		ck_b = ck_b + ck_a;
-	}
-
-	message[length - 2] = ck_a;
-	message[length - 1] = ck_b;
-}
-
-int configure_gps_ubx(int *fd)
-{
-	// only needed once like this
-	const type_gps_bin_cfg_prt_packet_t cfg_prt_packet = {
-		.clsID        = UBX_CLASS_CFG,
-		.msgID        = UBX_MESSAGE_CFG_PRT,
-		.length       = UBX_CFG_PRT_LENGTH,
-		.portID       = UBX_CFG_PRT_PAYLOAD_PORTID,
-		.mode         = UBX_CFG_PRT_PAYLOAD_MODE,
-		.baudRate     = current_gps_speed,
-		.inProtoMask  = UBX_CFG_PRT_PAYLOAD_INPROTOMASK,
-		.outProtoMask = UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK,
-		.ck_a         = 0,
-		.ck_b         = 0
-	};
-
-	// only needed once like this
-	const type_gps_bin_cfg_nav5_packet_t cfg_nav5_packet = {
-		.clsID        = UBX_CLASS_CFG,
-		.msgID        = UBX_MESSAGE_CFG_NAV5,
-		.length       = UBX_CFG_NAV5_LENGTH,
-		.mask         = UBX_CFG_NAV5_PAYLOAD_MASK,
-		.dynModel     = UBX_CFG_NAV5_PAYLOAD_DYNMODEL,
-		.fixMode      = UBX_CFG_NAV5_PAYLOAD_FIXMODE,
-		.ck_a         = 0,
-		.ck_b         = 0
-	};
-
-	// this message is reusable for different configuration commands, so not const
-	type_gps_bin_cfg_msg_packet cfg_msg_packet = {
-		.clsID        = UBX_CLASS_CFG,
-		.msgID        = UBX_MESSAGE_CFG_MSG,
-		.length       = UBX_CFG_MSG_LENGTH,
-		.rate         = UBX_CFG_MSG_PAYLOAD_RATE
-	};
-
-	uint64_t time_before_config = hrt_absolute_time();
-
-	while(hrt_absolute_time() < time_before_config + UBX_CONFIG_TIMEOUT) {
-
-//		if (gps_verbose) printf("[gps] ubx config state: %d\n", ubx_config_state);
-
-		switch (ubx_config_state) {
-			case UBX_CONFIG_STATE_PRT:
-//				if (gps_verbose) printf("[gps] Configuring ubx with baudrate: %d\n", cfg_prt_packet.baudRate);
-
-				write_config_message_ubx((uint8_t*)(&cfg_prt_packet), sizeof(cfg_prt_packet), fd);
-				break;
-			case UBX_CONFIG_STATE_NAV5:
-				write_config_message_ubx((uint8_t*)(&cfg_nav5_packet), sizeof(cfg_nav5_packet), fd);
-				break;
-			case UBX_CONFIG_STATE_MSG_NAV_POSLLH:
-				cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
-				cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_POSLLH;
-				write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd);
-				break;
-			case UBX_CONFIG_STATE_MSG_NAV_TIMEUTC:
-				cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
-				cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_TIMEUTC;
-				write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd);
-				break;
-			case UBX_CONFIG_STATE_MSG_NAV_DOP:
-				cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
-				cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_DOP;
-				write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd);
-				break;
-			case UBX_CONFIG_STATE_MSG_NAV_SVINFO:
-				cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
-				cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SVINFO;
-				write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd);
-				break;
-			case UBX_CONFIG_STATE_MSG_NAV_SOL:
-				cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
-				cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SOL;
-				write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd);
-				break;
-			case UBX_CONFIG_STATE_MSG_NAV_VELNED:
-				cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
-				cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_VELNED;
-				write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd);
-				break;
-			case UBX_CONFIG_STATE_MSG_RXM_SVSI:
-				cfg_msg_packet.msgClass_payload = UBX_CLASS_RXM;
-				cfg_msg_packet.msgID_payload = UBX_MESSAGE_RXM_SVSI;
-				write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd);
-				break;
-			case UBX_CONFIG_STATE_CONFIGURED:
-				if (gps_verbose) printf("[gps] ubx configuration finished\n");
-				return OK;
-				break;
-			default:
-				break;
-		}
-		usleep(10000);
-	}
-	if (gps_verbose) printf("[gps] ubx configuration timeout\n");
-	return ERROR;
-}
-
-
-
-int read_gps_ubx(int *fd, char *gps_rx_buffer, int buffer_size)
-{
-	uint8_t ret = 0;
-	uint8_t c;
-	int rx_count = 0;
-	int gpsRxOverflow = 0;
-
-	struct pollfd fds;
-	fds.fd = *fd;
-	fds.events = POLLIN;
-
-	// UBX GPS mode
-	// This blocks the task until there is something on the buffer
-	while (1) {
-		//check if the thread should terminate
-		if (terminate_gps_thread == true) {
-			ret = 1;
-			break;
-		}
-		if (poll(&fds, 1, 1000) > 0) {
-			if (read(*fd, &c, 1) > 0) {
-
-//				printf("Read %x\n",c);
-				if (rx_count >= buffer_size) {
-					// The buffer is already full and we haven't found a valid ubx sentence.
-					// Flush the buffer and note the overflow event.
-					gpsRxOverflow++;
-					rx_count = 0;
-					ubx_decode_init();
-
-					if (gps_verbose) printf("[gps] Buffer full\n");
-
-				} else {
-					//gps_rx_buffer[rx_count] = c;
-					rx_count++;
-
-				}
-
-				int msg_read = ubx_parse(c, gps_rx_buffer);
-
-				if (msg_read > 0) {
-					//printf("Found sequence\n");
-					break;
-				}
-
-			} else {
-				break;
-			}
-
-		} else {
-			break;
-		}
-
-	}
-
-	return ret;
-}
-
-int write_config_message_ubx(const uint8_t *message, const size_t length, const int *fd)
-{
-	uint8_t ck_a = 0;
-	uint8_t ck_b = 0;
-
-	unsigned int i;
-
-	uint8_t buffer[2];
-	ssize_t result_write = 0;
-
-	//calculate and write checksum to the end
-	for (i = 0; i < length-2; i++) {
-		ck_a = ck_a + message[i];
-		ck_b = ck_b + ck_a;
-	}
-
-	// write sync bytes first
-	buffer[0] = UBX_SYNC_1;
-	buffer[1] = UBX_SYNC_2;
-
-	// write config message without the checksum
-	result_write  = write(*fd, buffer, sizeof(buffer));
-	result_write += write(*fd, message, length-2);
-
-	buffer[0] = ck_a;
-	buffer[1] = ck_b;
-
-	// write the checksum
-	result_write += write(*fd, buffer, sizeof(buffer));
-
-	fsync(*fd);
-	if ((unsigned int)result_write != length + 2)
-		return ERROR;
-
-	return OK;
-}
-
-void *ubx_watchdog_loop(void *args)
-{
-	/* Set thread name */
-	prctl(PR_SET_NAME, "gps ubx watchdog", getpid());
-
-
-	/* Retrieve file descriptor and thread flag */
-	struct arg_struct *arguments = (struct arg_struct *)args;
-	int *fd = arguments->fd_ptr;
-	bool *thread_should_exit = arguments->thread_should_exit_ptr;
-
-	ubx_config_state = UBX_CONFIG_STATE_PRT;
-	/* first try to configure the GPS anyway */
-	configure_gps_ubx(fd);
-
-	/* GPS watchdog error message skip counter */
-
-	bool ubx_healthy = false;
-
-	uint8_t ubx_fail_count = 0;
-	uint8_t ubx_success_count = 0;
-	bool once_ok = false;
-
-	int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
-
-	//int err_skip_counter = 0;
-
-	while (!(*thread_should_exit)) {
-		/* if some values are to old reconfigure gps */
-		int i;
-		pthread_mutex_lock(ubx_mutex);
-		bool all_okay = true;
-		uint64_t timestamp_now = hrt_absolute_time();
-
-		for (i = 0; i < UBX_NO_OF_MESSAGES; i++) {
-//			printf("timestamp_now=%llu\n", timestamp_now);
-//			printf("last_message_timestamps=%llu\n", ubx_state->last_message_timestamps[i]);
-			if (timestamp_now - ubx_state->last_message_timestamps[i] > UBX_WATCHDOG_CRITICAL_TIME_MICROSECONDS) {
-				//printf("Warning: GPS ubx message %d not received for a long time\n", i);
-				all_okay = false;
-			}
-		}
-
-		pthread_mutex_unlock(ubx_mutex);
-
-		if (!all_okay) {
-			/* gps error */
-			ubx_fail_count++;
-//			if (err_skip_counter == 0)
-//			{
-//				printf("GPS Watchdog detected gps not running or having problems\n");
-//				err_skip_counter = 20;
-//			}
-//			err_skip_counter--;
-			//printf("gps_mode_try_all =%u, ubx_fail_count=%u, ubx_healthy=%u, once_ok=%u\n", gps_mode_try_all, ubx_fail_count, ubx_healthy, once_ok);
-
-
-			/* If we have too many failures and another mode or baud should be tried, exit... */
-			if ((gps_mode_try_all == true  || gps_baud_try_all == true) && (ubx_fail_count >= UBX_HEALTH_PROBE_COUNTER_LIMIT) && (ubx_healthy == false) && once_ok == false) {
-				if (gps_verbose) printf("[gps] Connection attempt failed, no UBX module found\n");
-
-				gps_mode_success = false;
-				break;
-			}
-
-			if (ubx_healthy && ubx_fail_count == UBX_HEALTH_FAIL_COUNTER_LIMIT) {
-				printf("[gps] ERROR: UBX GPS module stopped responding\n");
-				// global_data_send_subsystem_info(&ubx_present_enabled);
-				mavlink_log_critical(mavlink_fd, "[gps] UBX module stopped responding\n");
-				ubx_healthy = false;
-				ubx_success_count = 0;
-			}
-
-			/* trying to reconfigure the gps configuration */
-			ubx_config_state = UBX_CONFIG_STATE_PRT;
-			configure_gps_ubx(fd);
-			fflush(stdout);
-			sleep(1);
-
-		} else {
-			/* gps healthy */
-			ubx_success_count++;
-			ubx_fail_count = 0;
-			once_ok = true; // XXX Should this be true on a single success, or on same criteria as ubx_healthy?
-
-			if (!ubx_healthy && ubx_success_count == UBX_HEALTH_SUCCESS_COUNTER_LIMIT) {
-				//printf("[gps] ublox UBX module status ok (baud=%d)\r\n", current_gps_speed);
-				// global_data_send_subsystem_info(&ubx_present_enabled_healthy);
-				mavlink_log_info(mavlink_fd, "[gps] UBX module found, status ok\n");
-				ubx_healthy = true;
-			}
-		}
-		usleep(UBX_WATCHDOG_WAIT_TIME_MICROSECONDS);
-	}
-
-	if(gps_verbose) printf("[gps] ubx loop is going to terminate\n");
-	close(mavlink_fd);
-	return NULL;
-}
-
-void *ubx_loop(void *args)
-{
-	/* Set thread name */
-	prctl(PR_SET_NAME, "gps ubx read", getpid());
-	
-	/* Retrieve file descriptor and thread flag */
-	struct arg_struct *arguments = (struct arg_struct *)args;
-	int *fd = arguments->fd_ptr;
-	bool *thread_should_exit = arguments->thread_should_exit_ptr;
-
-	/* Initialize gps stuff */
-	char gps_rx_buffer[UBX_BUFFER_SIZE];
-
-
-	if (gps_verbose) printf("[gps] UBX protocol driver starting..\n");
-
-	//set parameters for ubx_state
-
-	//ubx state
-	ubx_state = malloc(sizeof(gps_bin_ubx_state_t));
-	//printf("gps: ubx_state created\n");
-	ubx_decode_init();
-	ubx_state->print_errors = false;
-
-
-	/* set parameters for ubx */
-
-	struct vehicle_gps_position_s ubx_gps_d = {.counter = 0};
-
-	ubx_gps = &ubx_gps_d;
-
-	orb_advert_t gps_pub = orb_advertise(ORB_ID(vehicle_gps_position), &ubx_gps);
-
-	while (!(*thread_should_exit)) {
-		/* Parse a message from the gps receiver */
-		if (0 == read_gps_ubx(fd, gps_rx_buffer, UBX_BUFFER_SIZE)) {
-			/* publish new GPS position */
-			orb_publish(ORB_ID(vehicle_gps_position), gps_pub, ubx_gps);
-
-		} else {
-			/* de-advertise */
-			close(gps_pub);
-			break;
-		}
-	}
-
-	if(gps_verbose) printf("[gps] ubx read is going to terminate\n");
-	close(gps_pub);
-	return NULL;
-
-}
diff --git a/apps/gps/ubx.h b/apps/gps/ubx.h
deleted file mode 100644
index f3313a3c6..000000000
--- a/apps/gps/ubx.h
+++ /dev/null
@@ -1,415 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
- *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
- *           Julian Oes <joes@student.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/* @file U-Blox protocol definitions */
-
-#ifndef UBX_H_
-#define UBX_H_
-
-#include <stdint.h>
-#include <stdlib.h>
-#include <stdio.h>
-#include <time.h>
-#include <math.h>
-#include <stdbool.h>
-#include <unistd.h>
-#include <pthread.h>
-
-
-//internal definitions (not depending on the ubx protocol
-#define UBX_NO_OF_MESSAGES 7								/**< Read 7 UBX GPS messages */
-#define UBX_WATCHDOG_CRITICAL_TIME_MICROSECONDS 3000000		/**< Allow 3 seconds maximum inter-message time */
-#define UBX_WATCHDOG_WAIT_TIME_MICROSECONDS 2000000			/**< Check for current state every two seconds */
-
-#define UBX_CONFIG_TIMEOUT 1000000
-
-#define APPNAME "gps: ubx"
-
-#define UBX_SYNC_1 0xB5
-#define UBX_SYNC_2 0x62
-
-//UBX Protocoll definitions (this is the subset of the messages that are parsed)
-#define UBX_CLASS_NAV 0x01
-#define UBX_CLASS_RXM 0x02
-#define UBX_CLASS_ACK 0x05
-#define UBX_CLASS_CFG 0x06
-#define UBX_MESSAGE_NAV_POSLLH 0x02
-#define UBX_MESSAGE_NAV_SOL 0x06
-#define UBX_MESSAGE_NAV_TIMEUTC 0x21
-#define UBX_MESSAGE_NAV_DOP 0x04
-#define UBX_MESSAGE_NAV_SVINFO 0x30
-#define UBX_MESSAGE_NAV_VELNED 0x12
-#define UBX_MESSAGE_RXM_SVSI 0x20
-#define UBX_MESSAGE_ACK_ACK 0x01
-#define UBX_MESSAGE_ACK_NAK 0x00
-#define UBX_MESSAGE_CFG_PRT 0x00
-#define UBX_MESSAGE_CFG_NAV5 0x24
-#define UBX_MESSAGE_CFG_MSG 0x01
-
-#define UBX_CFG_PRT_LENGTH 20
-#define UBX_CFG_PRT_PAYLOAD_PORTID 0x01         /**< port 1 */
-#define UBX_CFG_PRT_PAYLOAD_MODE 0x000008D0     /**< 0b0000100011010000: 8N1 */
-#define UBX_CFG_PRT_PAYLOAD_BAUDRATE 38400      /**< always choose 38400 as GPS baudrate */
-#define UBX_CFG_PRT_PAYLOAD_INPROTOMASK 0x01    /**< ubx in */
-#define UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK 0x01   /**< ubx out */
-
-#define UBX_CFG_NAV5_LENGTH 36
-#define UBX_CFG_NAV5_PAYLOAD_MASK 0x0001		/**< only update dynamic model and fix mode */
-#define UBX_CFG_NAV5_PAYLOAD_DYNMODEL 7			/**< 0: portable, 2: stationary, 3: pedestrian, 4: automotive, 5: sea, 6: airborne <1g, 7: airborne <2g, 8: airborne <4g */
-#define UBX_CFG_NAV5_PAYLOAD_FIXMODE 2          /**< 1: 2D only, 2: 3D only, 3: Auto 2D/3D */
-
-#define UBX_CFG_MSG_LENGTH 8
-#define UBX_CFG_MSG_PAYLOAD_RATE {0x00, 0x01, 0x00, 0x00, 0x00, 0x00} /**< UART1 chosen */
-
-
-// ************
-/** the structures of the binary packets */
-#pragma pack(push, 1)
-typedef struct {
-	uint32_t time_milliseconds; // GPS Millisecond Time of Week
-	int32_t lon;  // Longitude * 1e-7, deg
-	int32_t lat; // Latitude * 1e-7, deg
-	int32_t height;  // Height above Ellipsoid, mm
-	int32_t height_msl;  // Height above mean sea level, mm
-	uint32_t hAcc;  // Horizontal Accuracy Estimate, mm
-	uint32_t vAcc;  // Vertical Accuracy Estimate, mm
-
-	uint8_t ck_a;
-	uint8_t ck_b;
-} type_gps_bin_nav_posllh_packet;
-
-typedef type_gps_bin_nav_posllh_packet gps_bin_nav_posllh_packet_t;
-
-typedef struct {
-	uint32_t time_milliseconds; // GPS Millisecond Time of Week
-	int32_t time_nanoseconds; // Fractional Nanoseconds remainder of rounded ms above, range -500000 .. 500000
-	int16_t week; // GPS week (GPS time)
-	uint8_t gpsFix; //GPS Fix: 0 = No fix, 1 = Dead Reckoning only, 2 = 2D fix, 3 = 3d-fix, 4 = GPS + dead reckoning, 5 = time only fix
-	uint8_t flags;
-	int32_t ecefX;
-	int32_t ecefY;
-	int32_t ecefZ;
-	uint32_t pAcc;
-	int32_t ecefVX;
-	int32_t ecefVY;
-	int32_t ecefVZ;
-	uint32_t sAcc;
-	uint16_t pDOP;
-	uint8_t reserved1;
-	uint8_t numSV;
-	uint32_t reserved2;
-
-	uint8_t ck_a;
-	uint8_t ck_b;
-} type_gps_bin_nav_sol_packet;
-
-typedef type_gps_bin_nav_sol_packet gps_bin_nav_sol_packet_t;
-
-typedef struct {
-	uint32_t time_milliseconds; // GPS Millisecond Time of Week
-	uint32_t time_accuracy;  //Time Accuracy Estimate, ns
-	int32_t time_nanoseconds; //Nanoseconds of second, range -1e9 .. 1e9 (UTC)
-	uint16_t year; //Year, range 1999..2099 (UTC)
-	uint8_t month; //Month, range 1..12 (UTC)
-	uint8_t day; //Day of Month, range 1..31 (UTC)
-	uint8_t hour; //Hour of Day, range 0..23 (UTC)
-	uint8_t min; //Minute of Hour, range 0..59 (UTC)
-	uint8_t sec; //Seconds of Minute, range 0..59 (UTC)
-	uint8_t valid_flag; //Validity Flags (see ubx documentation)
-
-
-	uint8_t ck_a;
-	uint8_t ck_b;
-} type_gps_bin_nav_timeutc_packet;
-
-typedef type_gps_bin_nav_timeutc_packet gps_bin_nav_timeutc_packet_t;
-
-typedef struct {
-	uint32_t time_milliseconds; // GPS Millisecond Time of Week
-	uint16_t gDOP; //Geometric DOP (scaling 0.01)
-	uint16_t pDOP; //Position DOP (scaling 0.01)
-	uint16_t tDOP; //Time DOP (scaling 0.01)
-	uint16_t vDOP; //Vertical DOP (scaling 0.01)
-	uint16_t hDOP; //Horizontal DOP (scaling 0.01)
-	uint16_t nDOP; //Northing DOP (scaling 0.01)
-	uint16_t eDOP; //Easting DOP (scaling 0.01)
-
-
-	uint8_t ck_a;
-	uint8_t ck_b;
-} type_gps_bin_nav_dop_packet;
-
-typedef type_gps_bin_nav_dop_packet gps_bin_nav_dop_packet_t;
-
-typedef struct {
-	uint32_t time_milliseconds; // GPS Millisecond Time of Week
-	uint8_t numCh; //Number of channels
-	uint8_t globalFlags;
-	uint16_t reserved2;
-
-} type_gps_bin_nav_svinfo_part1_packet;
-
-typedef type_gps_bin_nav_svinfo_part1_packet gps_bin_nav_svinfo_part1_packet_t;
-
-typedef struct {
-	uint8_t chn; //Channel number, 255 for SVs not assigned to a channel
-	uint8_t svid; //Satellite ID
-	uint8_t flags;
-	uint8_t quality;
-	uint8_t cno; //Carrier to Noise Ratio (Signal Strength), dbHz
-	int8_t elev; //Elevation in integer degrees
-	int16_t azim; //Azimuth in integer degrees
-	int32_t prRes; //Pseudo range residual in centimetres
-
-} type_gps_bin_nav_svinfo_part2_packet;
-
-typedef type_gps_bin_nav_svinfo_part2_packet gps_bin_nav_svinfo_part2_packet_t;
-
-typedef struct {
-	uint8_t ck_a;
-	uint8_t ck_b;
-
-} type_gps_bin_nav_svinfo_part3_packet;
-
-typedef type_gps_bin_nav_svinfo_part3_packet gps_bin_nav_svinfo_part3_packet_t;
-
-
-typedef struct {
-	uint32_t time_milliseconds; // GPS Millisecond Time of Week
-	int32_t velN; //NED north velocity, cm/s
-	int32_t velE; //NED east velocity, cm/s
-	int32_t velD; //NED down velocity, cm/s
-	uint32_t speed; //Speed (3-D), cm/s
-	uint32_t gSpeed; //Ground Speed (2-D), cm/s
-	int32_t heading; //Heading of motion 2-D, deg, scaling: 1e-5
-	uint32_t sAcc; //Speed Accuracy Estimate, cm/s
-	uint32_t cAcc; //Course / Heading Accuracy Estimate, scaling: 1e-5
-
-	uint8_t ck_a;
-	uint8_t ck_b;
-} type_gps_bin_nav_velned_packet;
-
-typedef type_gps_bin_nav_velned_packet gps_bin_nav_velned_packet_t;
-
-typedef struct {
-	int32_t time_milliseconds; // Measurement integer millisecond GPS time of week
-	int16_t week; //Measurement GPS week number
-	uint8_t numVis; //Number of visible satellites
-
-	//... rest of package is not used in this implementation
-
-} type_gps_bin_rxm_svsi_packet;
-
-typedef type_gps_bin_rxm_svsi_packet gps_bin_rxm_svsi_packet_t;
-
-typedef struct {
-	uint8_t clsID;
-	uint8_t msgID;
-
-	uint8_t ck_a;
-	uint8_t ck_b;
-} type_gps_bin_ack_ack_packet;
-
-typedef type_gps_bin_ack_ack_packet gps_bin_ack_ack_packet_t;
-
-typedef struct {
-	uint8_t clsID;
-	uint8_t msgID;
-
-	uint8_t ck_a;
-	uint8_t ck_b;
-} type_gps_bin_ack_nak_packet;
-
-typedef type_gps_bin_ack_nak_packet gps_bin_ack_nak_packet_t;
-
-typedef struct {
-	uint8_t clsID;
-	uint8_t msgID;
-	uint16_t length;
-	uint8_t portID;
-	uint8_t res0;
-	uint16_t res1;
-	uint32_t mode;
-	uint32_t baudRate;
-	uint16_t inProtoMask;
-	uint16_t outProtoMask;
-	uint16_t flags;
-	uint16_t pad;
-
-	uint8_t ck_a;
-	uint8_t ck_b;
-} type_gps_bin_cfg_prt_packet;
-
-typedef type_gps_bin_cfg_prt_packet type_gps_bin_cfg_prt_packet_t;
-
-typedef struct {
-	uint8_t clsID;
-	uint8_t msgID;
-	uint16_t length;
-	uint16_t mask;
-	uint8_t dynModel;
-	uint8_t fixMode;
-	int32_t fixedAlt;
-	uint32_t fixedAltVar;
-	int8_t minElev;
-	uint8_t drLimit;
-	uint16_t pDop;
-	uint16_t tDop;
-	uint16_t pAcc;
-	uint16_t tAcc;
-	uint8_t staticHoldThresh;
-	uint8_t dgpsTimeOut;
-	uint32_t reserved2;
-	uint32_t reserved3;
-	uint32_t reserved4;
-
-	uint8_t ck_a;
-	uint8_t ck_b;
-} type_gps_bin_cfg_nav5_packet;
-
-typedef type_gps_bin_cfg_nav5_packet type_gps_bin_cfg_nav5_packet_t;
-
-typedef struct {
-	uint8_t clsID;
-	uint8_t msgID;
-	uint16_t length;
-	uint8_t msgClass_payload;
-	uint8_t msgID_payload;
-	uint8_t rate[6];
-
-	uint8_t ck_a;
-	uint8_t ck_b;
-} type_gps_bin_cfg_msg_packet;
-
-typedef type_gps_bin_cfg_msg_packet type_gps_bin_cfg_msg_packet_t;
-
-
-// END the structures of the binary packets
-// ************
-
-enum UBX_CONFIG_STATE {
-	UBX_CONFIG_STATE_NONE = 0,
-	UBX_CONFIG_STATE_PRT = 1,
-	UBX_CONFIG_STATE_NAV5 = 2,
-	UBX_CONFIG_STATE_MSG_NAV_POSLLH = 3,
-	UBX_CONFIG_STATE_MSG_NAV_TIMEUTC = 4,
-	UBX_CONFIG_STATE_MSG_NAV_DOP = 5,
-	UBX_CONFIG_STATE_MSG_NAV_SVINFO = 6,
-	UBX_CONFIG_STATE_MSG_NAV_SOL = 7,
-	UBX_CONFIG_STATE_MSG_NAV_VELNED = 8,
-	UBX_CONFIG_STATE_MSG_RXM_SVSI = 9,
-	UBX_CONFIG_STATE_CONFIGURED = 10
-};
-
-enum UBX_MESSAGE_CLASSES {
-	CLASS_UNKNOWN = 0,
-	NAV = 1,
-	RXM = 2,
-	ACK = 3,
-	CFG = 4
-};
-
-enum UBX_MESSAGE_IDS {
-	//these numbers do NOT correspond to the message id numbers of the ubx protocol
-	ID_UNKNOWN = 0,
-	NAV_POSLLH = 1,
-	NAV_SOL = 2,
-	NAV_TIMEUTC = 3,
-	NAV_DOP = 4,
-	NAV_SVINFO = 5,
-	NAV_VELNED = 6,
-	RXM_SVSI = 7,
-	CFG_NAV5 = 8,
-	ACK_ACK = 9,
-	ACK_NAK = 10
-};
-
-enum UBX_DECODE_STATES {
-	UBX_DECODE_UNINIT = 0,
-	UBX_DECODE_GOT_SYNC1 = 1,
-	UBX_DECODE_GOT_SYNC2 = 2,
-	UBX_DECODE_GOT_CLASS = 3,
-	UBX_DECODE_GOT_MESSAGEID = 4,
-	UBX_DECODE_GOT_LENGTH1 = 5,
-	UBX_DECODE_GOT_LENGTH2 = 6
-};
-
-typedef struct {
-	union {
-		uint16_t ck;
-		struct {
-			uint8_t ck_a;
-			uint8_t ck_b;
-		};
-	};
-	enum UBX_DECODE_STATES decode_state;
-	bool print_errors;
-	int16_t rx_count;
-	uint16_t payload_size;
-
-	enum UBX_MESSAGE_CLASSES  message_class;
-	enum UBX_MESSAGE_IDS message_id;
-	uint64_t last_message_timestamps[UBX_NO_OF_MESSAGES];
-
-} type_gps_bin_ubx_state;
-
-typedef type_gps_bin_ubx_state gps_bin_ubx_state_t;
-#pragma pack(pop)
-
-extern pthread_mutex_t *ubx_mutex;
-extern gps_bin_ubx_state_t *ubx_state;
-
-void ubx_decode_init(void);
-
-void ubx_checksum(uint8_t b, uint8_t *ck_a, uint8_t *ck_b);
-
-
-
-int ubx_parse(uint8_t b,  char *gps_rx_buffer);
-
-int configure_gps_ubx(int *fd);
-
-int read_gps_ubx(int *fd, char *gps_rx_buffer, int buffer_size);
-
-int write_config_message_ubx(const uint8_t *message, const size_t length, const int *fd);
-
-void calculate_ubx_checksum(uint8_t *message, uint8_t length);
-
-void *ubx_watchdog_loop(void *args);
-
-void *ubx_loop(void *args);
-
-
-#endif /* UBX_H_ */
diff --git a/apps/include/nsh.h b/apps/include/nsh.h
index 4b5a3cd31..8e469a555 100644
--- a/apps/include/nsh.h
+++ b/apps/include/nsh.h
@@ -1,7 +1,7 @@
 /****************************************************************************
  * apps/include/nsh.h
  *
- *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2011, 2013 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -45,6 +45,31 @@
 /****************************************************************************
  * Pre-Processor Definitions
  ****************************************************************************/
+/* If a USB device is selected for the NSH console then we need to handle some
+ * special start-up conditions.
+ */
+
+#undef HAVE_USB_CONSOLE
+#if defined(CONFIG_USBDEV)
+
+/* Check for a PL2303 serial console.  Use console device "/dev/console". */
+
+#  if defined(CONFIG_PL2303) && defined(CONFIG_PL2303_CONSOLE)
+#    define HAVE_USB_CONSOLE 1
+
+/* Check for a CDC/ACM serial console.  Use console device "/dev/console". */
+
+#  elif defined(CONFIG_CDCACM) && defined(CONFIG_CDCACM_CONSOLE)
+#    define HAVE_USB_CONSOLE 1
+
+/* Check for a generic USB console.  In this case, the USB console device
+ * must be provided in CONFIG_NSH_CONDEV.
+ */
+
+#  elif defined(CONFIG_NSH_USBCONSOLE)
+#    define HAVE_USB_CONSOLE 1
+#  endif
+#endif
 
 #if CONFIG_RR_INTERVAL > 0
 # define SCHED_NSH SCHED_RR
@@ -58,7 +83,8 @@
 
 #ifdef __cplusplus
 #define EXTERN extern "C"
-extern "C" {
+extern "C" 
+{
 #else
 #define EXTERN extern
 #endif
@@ -83,35 +109,54 @@ extern "C" {
  *
  ****************************************************************************/
 
-EXTERN void nsh_initialize(void);
+void nsh_initialize(void);
 
 /****************************************************************************
  * Name: nsh_consolemain
  *
  * Description:
  *   This interfaces maybe to called or started with task_start to start a
- *   single an NSH instance that operates on stdin and stdout (/dev/console).
- *   This function does not return.
+ *   single an NSH instance that operates on stdin and stdout.  This
+ *   function does not return.
  *
+ *   This function handles generic /dev/console character devices, or 
+ *   special USB console devices.  The USB console requires some special
+ *   operations to handle the cases where the session is lost when the
+ *   USB device is unplugged and restarted when the USB device is plugged
+ *   in again.
+  *
  * Input Parameters:
- *   Standard task start-up arguements.  These are not used.  argc may be
+ *   Standard task start-up arguments.  These are not used.  argc may be
  *   zero and argv may be NULL.
  *
  * Returned Values:
  *   This function does not normally return.  exit() is usually called to
  *   terminate the NSH session.  This function will return in the event of
- *   an error.  In that case, a nonzero value is returned (1).
+ *   an error.  In that case, a nonzero value is returned (EXIT_FAILURE=1).
  *  
  ****************************************************************************/
 
-EXTERN int nsh_consolemain(int argc, char *argv[]);
+int nsh_consolemain(int argc, char *argv[]);
 
-/* nsh_telnetstart() starts a telnet daemon that will allow multiple
- * NSH connections via telnet.  This function returns immediately after
- * the daemon has been started.
- */
+/****************************************************************************
+ * Name: nsh_telnetstart
+ *
+ * Description:
+ *   nsh_telnetstart() starts the Telnet daemon that will allow multiple
+ *   NSH connections via Telnet.  This function returns immediately after
+ *   the daemon has been started.
+ *
+ * Input Parameters:
+ *   None.  All of the properties of the Telnet daemon are controlled by
+ *   NuttX configuration setting.
+ *
+ * Returned Values:
+ *   The task ID of the Telnet daemon was successfully started.  A negated
+ *   errno value will be returned on failure.
+ *  
+ ****************************************************************************/
 
-EXTERN int nsh_telnetstart(void);
+int nsh_telnetstart(void);
 
 #undef EXTERN
 #ifdef __cplusplus
diff --git a/apps/include/usbmonitor.h b/apps/include/usbmonitor.h
new file mode 100644
index 000000000..01fa060b0
--- /dev/null
+++ b/apps/include/usbmonitor.h
@@ -0,0 +1,96 @@
+/****************************************************************************
+ * apps/include/usbmonitor.h
+ *
+ *   Copyright (C) 2013 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 __APPS_INCLUDE_USBMONITOR_H
+#define __APPS_INCLUDE_USBMONITOR_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#ifdef CONFIG_SYSTEM_USBMONITOR
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#ifdef __cplusplus
+#define EXTERN extern "C"
+extern "C" 
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: usbmon_start and usbmon_stop
+ *
+ *   Start and top the USB monitor daemon.  These are normally controlled
+ *   from the USB command line, but the ability to control these
+ *   programmatically is also helpful (for example, so that the daemon is
+ *   running before NSH starts).
+ *
+ * Input Parameters:
+ *   Standard task parameters.  These can be called or spawned.  Since the
+ *   return almost immediately, it is fine to just call the functions.  The
+ *   parameters are not used so you can pass 0 and NULL, respectivley; this
+ *   is done this way so that these functions can be NSH builtin
+ *   applications.
+ *
+ * Returned values:
+ *   Standard task return values (zero meaning success).
+ *
+ **************************************************************************/
+
+int usbmonitor_start(int argc, char **argv);
+int usbmonitor_stop(int argc, char **argv);
+
+#undef EXTERN
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CONFIG_SYSTEM_USBMONITOR */
+#endif /* __APPS_INCLUDE_USBMONITOR_H */
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index ceb7c2554..b958d5f96 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -625,7 +625,9 @@ int mavlink_thread_main(int argc, char *argv[])
 		/* 20 Hz / 50 ms */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 10);
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 50);
-		/* 2 Hz */
+		/* 10 Hz */
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 100);
+		/* 10 Hz */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 100);
 
 	} else if (baudrate >= 115200) {
@@ -634,8 +636,10 @@ int mavlink_thread_main(int argc, char *argv[])
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 50);
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 50);
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 50);
-		/* 5 Hz / 100 ms */
+		/* 5 Hz / 200 ms */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 200);
+		/* 5 Hz / 200 ms */
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 200);
 		/* 2 Hz */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500);
 
@@ -651,6 +655,8 @@ int mavlink_thread_main(int argc, char *argv[])
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 500);
 		/* 2 Hz */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500);
+		/* 2 Hz */
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 500);
 
 	} else {
 		/* very low baud rate, limit to 1 Hz / 1000 ms */
diff --git a/apps/mavlink/mavlink_receiver.c b/apps/mavlink/mavlink_receiver.c
index 510d2f3e4..4d9cd964d 100644
--- a/apps/mavlink/mavlink_receiver.c
+++ b/apps/mavlink/mavlink_receiver.c
@@ -387,22 +387,22 @@ handle_message(mavlink_message_t *msg)
 			static uint64_t old_timestamp = 0;
 
 			/* gps */
-			hil_gps.timestamp = gps.time_usec;
-			hil_gps.counter = hil_counter++;
+			hil_gps.timestamp_position = gps.time_usec;
+//			hil_gps.counter = hil_counter++;
 			hil_gps.time_gps_usec = gps.time_usec;
 			hil_gps.lat = gps.lat;
 			hil_gps.lon = gps.lon;
 			hil_gps.alt = gps.alt;
-			hil_gps.counter_pos_valid = hil_counter++;
-			hil_gps.eph = gps.eph;
-			hil_gps.epv = gps.epv;
-			hil_gps.s_variance = 100;
-			hil_gps.p_variance = 100;
-			hil_gps.vel = gps.vel;
-			hil_gps.vel_n = gps.vel / 100.0f * cosf(gps.cog / M_RAD_TO_DEG_F / 100.0f);
-			hil_gps.vel_e = gps.vel / 100.0f * sinf(gps.cog / M_RAD_TO_DEG_F / 100.0f);
-			hil_gps.vel_d = 0.0f;
-			hil_gps.cog = gps.cog;
+//			hil_gps.counter_pos_valid = hil_counter++;
+			hil_gps.eph_m = (float)gps.eph * 1e-2f; // from cm to m
+			hil_gps.epv_m = (float)gps.epv * 1e-2f; // from cm to m
+			hil_gps.s_variance_m_s = 100; // XXX 100 m/s variance?
+			hil_gps.p_variance_m = 100; // XXX 100 m variance?
+			hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s
+			hil_gps.vel_n_m_s = (float)gps.vel * 1e-2f * cosf(gps.cog * M_DEG_TO_RAD_F * 1e-2f);
+			hil_gps.vel_e_m_s = (float)gps.vel * 1e-2f * sinf(gps.cog * M_DEG_TO_RAD_F * 1e-2f);
+			hil_gps.vel_d_m_s = 0.0f;
+			hil_gps.cog_rad = gps.cog * M_DEG_TO_RAD_F * 1e-2f; // from deg*100 to rad
 			hil_gps.fix_type = gps.fix_type;
 			hil_gps.satellites_visible = gps.satellites_visible;
 
diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c
index ec5149745..9f85d5801 100644
--- a/apps/mavlink/orb_listener.c
+++ b/apps/mavlink/orb_listener.c
@@ -231,15 +231,15 @@ l_vehicle_gps_position(struct listener *l)
 
 	/* GPS position */
 	mavlink_msg_gps_raw_int_send(MAVLINK_COMM_0,
-				     gps.timestamp,
+				     gps.timestamp_position,
 				     gps.fix_type,
 				     gps.lat,
 				     gps.lon,
 				     gps.alt,
-				     gps.eph,
-				     gps.epv,
-				     gps.vel,
-				     gps.cog,
+				     (uint16_t)(gps.eph_m * 1e2f), // from m to cm
+				     (uint16_t)(gps.epv_m * 1e2f), // from m to cm
+				     (uint16_t)(gps.vel_m_s * 1e2f), // from m/s to cm/s
+				     (uint16_t)(gps.cog_rad * M_RAD_TO_DEG_F * 1e2f), // from rad to deg * 100
 				     gps.satellites_visible);
 
 	if (gps.satellite_info_available && (gps_counter % 4 == 0)) {
@@ -698,7 +698,7 @@ uorb_receive_start(void)
 
 	/* --- GPS VALUE --- */
 	mavlink_subs.gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
-	orb_set_interval(mavlink_subs.gps_sub, 1000);	/* 1Hz updates */
+	orb_set_interval(mavlink_subs.gps_sub, 200);	/* 5Hz updates */
 
 	/* --- HOME POSITION --- */
 	mavlink_subs.home_sub = orb_subscribe(ORB_ID(home_position));
diff --git a/apps/nshlib/Kconfig b/apps/nshlib/Kconfig
index f6a5aa045..92bc83cfd 100644
--- a/apps/nshlib/Kconfig
+++ b/apps/nshlib/Kconfig
@@ -292,6 +292,19 @@ config NSH_ROMFSETC
 endif
 
 if NSH_ROMFSETC
+
+config NSH_ROMFSRC
+	bool "Support ROMFS login script"
+	default n
+	---help---
+		The ROMFS start-up script will be executed excactly once.  For
+		simple, persistence consoles (like a serial console).  But with
+		other other kinds of consoles, there may be multiple, transient
+		sessions (such as Telnet and USB consoles).  In these cases, you
+		may need another script that is executed at the beginning of each
+		session.  Selecting this option enables support for such a login
+		script
+
 config NSH_ROMFSMOUNTPT
 	string "ROMFS mount point"
 	default "/etc"
@@ -308,6 +321,15 @@ config NSH_INITSCRIPT
 		The default is init.d/rcS.  This is a relative path and must not
 		start with '/'.
 
+config NSH_RCSCRIPT
+	string "Relative path to login script"
+	default ".nshrc"
+	depends on NSH_ROMFSRC
+	---help---
+		This is the relative path to the login script within the mountpoint.
+		The default is .nshrc.  This is a relative path and must not
+		start with '/'.
+
 config NSH_ROMFSDEVNO
 	int "ROMFS block device minor number"
 	default 0
@@ -406,7 +428,7 @@ config NSH_USBCONDEV
 		readable/write-able USB driver such as:
 		NSH_USBCONDEV="/dev/ttyACM0".
 
-config UBSDEV_MINOR
+config USBDEV_MINOR
 	int "USB console device minor number"
 	default 0
 	depends on NSH_USBCONSOLE
@@ -414,8 +436,22 @@ config UBSDEV_MINOR
 		If there are more than one USB devices, then a USB device
 		minor number may also need to be provided. Default: 0
 
-menu "USB Trace Support"
+comment "USB Trace Support"
+config NSH_USBDEV_TRACE
+	bool "Enable Builtin USB Trace Support"
+	default n
 	depends on USBDEV && (DEBUG || USBDEV_TRACE)
+	---help---
+		Enable builtin USB trace support in NSH.  If selected, buffered USB
+		trace data will be presented each time a command is provided to NSH.
+		The USB trace data will be sent to the console unless DEBUG set or
+		unless you are using a USB console.  In those cases, the trace data
+		will go to the SYSLOG device.
+
+		If not enabled, the USB trace support can be provided by external
+		logic such as apps/system/usbmonitor.
+
+if NSH_USBDEV_TRACE
 
 config NSH_USBDEV_TRACEINIT
 	bool "Show initialization events"
@@ -447,7 +483,7 @@ config NSH_USBDEV_TRACEINTERRUPTS
 	---help---
 		Show interrupt-related events
 
-endmenu
+endif
 
 config NSH_CONDEV
 	bool "Default console device"
diff --git a/apps/nshlib/Makefile b/apps/nshlib/Makefile
index 948f43d52..76cdac40d 100644
--- a/apps/nshlib/Makefile
+++ b/apps/nshlib/Makefile
@@ -1,7 +1,7 @@
 ############################################################################
 # apps/nshlib/Makefile
 #
-#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2011-2013 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -39,9 +39,10 @@ include $(APPDIR)/Make.defs
 
 # NSH Library
 
-ASRCS =
-CSRCS = nsh_init.c nsh_parse.c nsh_console.c nsh_fscmds.c nsh_ddcmd.c \
-		nsh_proccmds.c nsh_mmcmds.c nsh_envcmds.c nsh_dbgcmds.c
+ASRCS  =
+CSRCS  = nsh_init.c nsh_parse.c nsh_console.c nsh_script.c nsh_session.c
+CSRCS += nsh_fscmds.c nsh_ddcmd.c nsh_proccmds.c nsh_mmcmds.c nsh_envcmds.c
+CSRCS += nsh_dbgcmds.c
 
 ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
 CSRCS += nsh_builtin.c
diff --git a/apps/nshlib/README.txt b/apps/nshlib/README.txt
index 006839628..a03f4a8ee 100644
--- a/apps/nshlib/README.txt
+++ b/apps/nshlib/README.txt
@@ -1025,12 +1025,16 @@ NSH-Specific Configuration Settings
       If there are more than one USB devices, then a USB device
       minor number may also need to be provided:
 
-      CONFIG_NSH_UBSDEV_MINOR
+      CONFIG_NSH_USBDEV_MINOR
         The minor device number of the USB device.  Default: 0
 
-      If USB tracing is enabled (CONFIG_USBDEV_TRACE), then NSH will
-      initialize USB tracing as requested by the following. Default:
-      Only USB errors are traced.
+      CONFIG_NSH_USBDEV_TRACE
+        If USB tracing is enabled (CONFIG_USBDEV_TRACE), then NSH can
+        be configured to show the buffered USB trace data afer each
+        NSH command:
+
+      If CONFIG_NSH_USBDEV_TRACE is selected, then USB trace data
+      can be filtered as follows. Default: Only USB errors are traced.
 
       CONFIG_NSH_USBDEV_TRACEINIT
         Show initialization events
diff --git a/apps/nshlib/nsh.h b/apps/nshlib/nsh.h
index 64099a8df..23209dba5 100644
--- a/apps/nshlib/nsh.h
+++ b/apps/nshlib/nsh.h
@@ -1,7 +1,7 @@
 /****************************************************************************
  * apps/nshlib/nsh.h
  *
- *   Copyright (C) 2007-2012 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2007-2013 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -93,7 +93,9 @@
 #  elif defined(CONFIG_CDCACM) && defined(CONFIG_CDCACM_CONSOLE)
 #    define HAVE_USB_CONSOLE 1
 
-/* Check for other USB console.  USB console device must be provided in CONFIG_NSH_CONDEV */
+/* Check for a generic USB console.  In this case, the USB console device
+ * must be provided in CONFIG_NSH_CONDEV.
+ */
 
 #  elif defined(CONFIG_NSH_USBCONSOLE)
 #    define HAVE_USB_CONSOLE 1
@@ -106,8 +108,8 @@
 
 /* The default USB console device minor number is 0*/
 
-#  ifndef CONFIG_NSH_UBSDEV_MINOR
-#    define CONFIG_NSH_UBSDEV_MINOR 0
+#  ifndef CONFIG_NSH_USBDEV_MINOR
+#    define CONFIG_NSH_USBDEV_MINOR 0
 #  endif
 
 /* The default console device is always /dev/console */
@@ -118,43 +120,53 @@
 
 /* USB trace settings */
 
-#ifdef CONFIG_NSH_USBDEV_TRACEINIT
-#  define TRACE_INIT_BITS       (TRACE_INIT_BIT)
-#else
-#  define TRACE_INIT_BITS       (0)
-#endif
+#  ifndef CONFIG_USBDEV_TRACE
+#    undef CONFIG_NSH_USBDEV_TRACE
+#  endif 
 
-#define TRACE_ERROR_BITS        (TRACE_DEVERROR_BIT|TRACE_CLSERROR_BIT)
+#  ifdef CONFIG_NSH_USBDEV_TRACE
+#    ifdef CONFIG_NSH_USBDEV_TRACEINIT
+#      define TRACE_INIT_BITS       (TRACE_INIT_BIT)
+#    else
+#      define TRACE_INIT_BITS       (0)
+#    endif
 
-#ifdef CONFIG_NSH_USBDEV_TRACECLASS
-#  define TRACE_CLASS_BITS      (TRACE_CLASS_BIT|TRACE_CLASSAPI_BIT|TRACE_CLASSSTATE_BIT)
-#else
-#  define TRACE_CLASS_BITS      (0)
-#endif
+#    define TRACE_ERROR_BITS        (TRACE_DEVERROR_BIT|TRACE_CLSERROR_BIT)
 
-#ifdef CONFIG_NSH_USBDEV_TRACETRANSFERS
-#  define TRACE_TRANSFER_BITS   (TRACE_OUTREQQUEUED_BIT|TRACE_INREQQUEUED_BIT|TRACE_READ_BIT|\
-                                 TRACE_WRITE_BIT|TRACE_COMPLETE_BIT)
-#else
-#  define TRACE_TRANSFER_BITS   (0)
-#endif
+#    ifdef CONFIG_NSH_USBDEV_TRACECLASS
+#      define TRACE_CLASS_BITS      (TRACE_CLASS_BIT|TRACE_CLASSAPI_BIT|\
+                                     TRACE_CLASSSTATE_BIT)
+#    else
+#      define TRACE_CLASS_BITS      (0)
+#    endif
 
-#ifdef CONFIG_NSH_USBDEV_TRACECONTROLLER
-#  define TRACE_CONTROLLER_BITS (TRACE_EP_BIT|TRACE_DEV_BIT)
-#else
-#  define TRACE_CONTROLLER_BITS (0)
-#endif
+#    ifdef CONFIG_NSH_USBDEV_TRACETRANSFERS
+#      define TRACE_TRANSFER_BITS   (TRACE_OUTREQQUEUED_BIT|TRACE_INREQQUEUED_BIT|\
+                                     TRACE_READ_BIT|TRACE_WRITE_BIT|\
+                                     TRACE_COMPLETE_BIT)
+#    else
+#      define TRACE_TRANSFER_BITS   (0)
+#    endif
 
-#ifdef CONFIG_NSH_USBDEV_TRACEINTERRUPTS
-#  define TRACE_INTERRUPT_BITS  (TRACE_INTENTRY_BIT|TRACE_INTDECODE_BIT|TRACE_INTEXIT_BIT)
-#else
-#  define TRACE_INTERRUPT_BITS  (0)
-#endif
+#    ifdef CONFIG_NSH_USBDEV_TRACECONTROLLER
+#      define TRACE_CONTROLLER_BITS (TRACE_EP_BIT|TRACE_DEV_BIT)
+#    else
+#      define TRACE_CONTROLLER_BITS (0)
+#    endif
 
-#define TRACE_BITSET            (TRACE_INIT_BITS|TRACE_ERROR_BITS|TRACE_CLASS_BITS|\
-                                 TRACE_TRANSFER_BITS|TRACE_CONTROLLER_BITS|TRACE_INTERRUPT_BITS)
+#    ifdef CONFIG_NSH_USBDEV_TRACEINTERRUPTS
+#      define TRACE_INTERRUPT_BITS  (TRACE_INTENTRY_BIT|TRACE_INTDECODE_BIT|\
+                                     TRACE_INTEXIT_BIT)
+#    else
+#      define TRACE_INTERRUPT_BITS  (0)
+#    endif
 
-#endif
+#    define TRACE_BITSET            (TRACE_INIT_BITS|TRACE_ERROR_BITS|\
+                                     TRACE_CLASS_BITS|TRACE_TRANSFER_BITS|\
+                                     TRACE_CONTROLLER_BITS|TRACE_INTERRUPT_BITS)
+
+#  endif /* CONFIG_NSH_USBDEV_TRACE */
+#endif /* HAVE_USB_CONSOLE */
 
 /* If Telnet is selected for the NSH console, then we must configure
  * the resources used by the Telnet daemon and by the Telnet clients.
@@ -232,40 +244,59 @@
 #    error "Mountpoint support is disabled"
 #    undef CONFIG_NSH_ROMFSETC
 #  endif
+
 #  if CONFIG_NFILE_DESCRIPTORS < 4
 #    error "Not enough file descriptors"
 #    undef CONFIG_NSH_ROMFSETC
 #  endif
+
 #  ifndef CONFIG_FS_ROMFS
 #    error "ROMFS support not enabled"
 #    undef CONFIG_NSH_ROMFSETC
 #  endif
+
 #  ifndef CONFIG_NSH_ROMFSMOUNTPT
 #    define CONFIG_NSH_ROMFSMOUNTPT "/etc"
 #  endif
-#  ifdef CONFIG_NSH_INIT
-#    ifndef CONFIG_NSH_INITSCRIPT
-#      define CONFIG_NSH_INITSCRIPT "init.d/rcS"
-#    endif
+
+#  ifndef CONFIG_NSH_INITSCRIPT
+#    define CONFIG_NSH_INITSCRIPT "init.d/rcS"
 #  endif
+
 #  undef NSH_INITPATH
 #  define NSH_INITPATH CONFIG_NSH_ROMFSMOUNTPT "/" CONFIG_NSH_INITSCRIPT
+
+#  ifdef CONFIG_NSH_ROMFSRC
+#    ifndef CONFIG_NSH_RCSCRIPT
+#      define CONFIG_NSH_RCSCRIPT ".nshrc"
+#    endif
+
+#    undef NSH_RCPATH
+#    define NSH_RCPATH CONFIG_NSH_ROMFSMOUNTPT "/" CONFIG_NSH_RCSCRIPT
+#  endif
+
 #  ifndef CONFIG_NSH_ROMFSDEVNO
 #    define CONFIG_NSH_ROMFSDEVNO 0
 #  endif
+
 #  ifndef CONFIG_NSH_ROMFSSECTSIZE
 #    define CONFIG_NSH_ROMFSSECTSIZE 64
 #  endif
+
 #  define NSECTORS(b)        (((b)+CONFIG_NSH_ROMFSSECTSIZE-1)/CONFIG_NSH_ROMFSSECTSIZE)
 #  define STR_RAMDEVNO(m)    #m
 #  define MKMOUNT_DEVNAME(m) "/dev/ram" STR_RAMDEVNO(m)
 #  define MOUNT_DEVNAME      MKMOUNT_DEVNAME(CONFIG_NSH_ROMFSDEVNO)
+
 #else
+
+#  undef CONFIG_NSH_ROMFSRC
 #  undef CONFIG_NSH_ROMFSMOUNTPT
-#  undef CONFIG_NSH_INIT
 #  undef CONFIG_NSH_INITSCRIPT
+#  undef CONFIG_NSH_RCSCRIPT
 #  undef CONFIG_NSH_ROMFSDEVNO
 #  undef CONFIG_NSH_ROMFSSECTSIZE
+
 #endif
 
 /* This is the maximum number of arguments that will be accepted for a
@@ -474,6 +505,12 @@ int nsh_usbconsole(void);
 
 #if CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_NFILE_STREAMS > 0 && !defined(CONFIG_NSH_DISABLESCRIPT)
 int nsh_script(FAR struct nsh_vtbl_s *vtbl, const char *cmd, const char *path);
+#ifdef CONFIG_NSH_ROMFSETC
+int nsh_initscript(FAR struct nsh_vtbl_s *vtbl);
+#ifdef CONFIG_NSH_ROMFSRC
+int nsh_loginscript(FAR struct nsh_vtbl_s *vtbl);
+#endif
+#endif
 #endif
 
 /* Architecture-specific initialization */
@@ -484,8 +521,10 @@ int nsh_archinitialize(void);
 #  define nsh_archinitialize() (-ENOSYS)
 #endif
 
-/* Message handler */
+/* Basic session and message handling */
 
+struct console_stdio_s;
+int nsh_session(FAR struct console_stdio_s *pstate);
 int nsh_parse(FAR struct nsh_vtbl_s *vtbl, char *cmdline);
 
 /* Application interface */
@@ -515,10 +554,8 @@ void nsh_dumpbuffer(FAR struct nsh_vtbl_s *vtbl, const char *msg,
 
 /* USB debug support */
 
-#if defined(CONFIG_USBDEV_TRACE) && defined(HAVE_USB_CONSOLE)
+#ifdef CONFIG_NSH_USBDEV_TRACE
 void nsh_usbtrace(void);
-#else
-#  define nsh_usbtrace()
 #endif
 
 /* Shell command handlers */
diff --git a/apps/nshlib/nsh_consolemain.c b/apps/nshlib/nsh_consolemain.c
index f05447a64..8be44f7aa 100644
--- a/apps/nshlib/nsh_consolemain.c
+++ b/apps/nshlib/nsh_consolemain.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  * apps/nshlib/nsh_consolemain.c
  *
- *   Copyright (C) 2007-2009, 2011-2012 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2007-2009, 2011-2013 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -47,6 +47,8 @@
 #include "nsh.h"
 #include "nsh_console.h"
 
+#ifndef HAVE_USB_CONSOLE
+
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
@@ -76,21 +78,25 @@
  ****************************************************************************/
 
 /****************************************************************************
- * Name: nsh_consolemain
+ * Name: nsh_consolemain (Normal character device version)
  *
  * Description:
  *   This interfaces maybe to called or started with task_start to start a
- *   single an NSH instance that operates on stdin and stdout (/dev/console).
- *   This function does not return.
+ *   single an NSH instance that operates on stdin and stdout.  This
+ *   function does not normally return (see below).
  *
+ *   This version of nsh_consolmain handles generic /dev/console character
+ *   devices (see nsh_usbdev.c for another version for special USB console
+ *   devices).
+  *
  * Input Parameters:
- *   Standard task start-up arguements.  These are not used.  argc may be
+ *   Standard task start-up arguments.  These are not used.  argc may be
  *   zero and argv may be NULL.
  *
  * Returned Values:
  *   This function does not normally return.  exit() is usually called to
  *   terminate the NSH session.  This function will return in the event of
- *   an error.  In that case, a nonzero value is returned (1).
+ *   an error.  In that case, a nonzero value is returned (EXIT_FAILURE=1).
  *  
  ****************************************************************************/
 
@@ -101,70 +107,26 @@ int nsh_consolemain(int argc, char *argv[])
 
   DEBUGASSERT(pstate);
 
-  /* If we are using a USB serial console, then we will have to wait for the
-   * USB to be connected to the host.
-   */
-
-#ifdef HAVE_USB_CONSOLE
-  ret = nsh_usbconsole();
-  DEBUGASSERT(ret == OK);
-#endif
-
-  /* Present a greeting */
-
-  fputs(g_nshgreeting, pstate->cn_outstream);
-  fflush(pstate->cn_outstream);
-
-  /* Execute the startup script */
+  /* Execute the start-up script */
 
 #ifdef CONFIG_NSH_ROMFSETC
-  (void)nsh_script(&pstate->cn_vtbl, "init", NSH_INITPATH);
+  (void)nsh_initscript(&pstate->cn_vtbl);
 #endif
 
-  /* Then enter the command line parsing loop */
-
-  for (;;)
-    {
-      /* For the case of debugging the USB console... dump collected USB trace data */
+  /* Initialize any USB tracing options that were requested */
 
-      nsh_usbtrace();
-
-      /* Display the prompt string */
-
-      fputs(g_nshprompt, pstate->cn_outstream);
-      fflush(pstate->cn_outstream);
-
-      /* Get the next line of input */
-
-      ret = readline(pstate->cn_line, CONFIG_NSH_LINELEN,
-                     INSTREAM(pstate), OUTSTREAM(pstate));
-      if (ret > 0)
-        {
-          /* Parse process the command */
-
-          (void)nsh_parse(&pstate->cn_vtbl, pstate->cn_line);
-          fflush(pstate->cn_outstream);
-        }
+#ifdef CONFIG_NSH_USBDEV_TRACE
+  usbtrace_enable(TRACE_BITSET);
+#endif
 
-      /* Readline normally returns the number of characters read,
-       * but will return 0 on end of file or a negative value
-       * if an error occurs.  Either will cause the session to
-       * terminate.
-       */
+  /* Execute the session */
 
-      else
-        {
-          fprintf(pstate->cn_outstream, g_fmtcmdfailed, "nsh_consolemain", 
-                  "readline", NSH_ERRNO_OF(-ret));
-          nsh_exit(&pstate->cn_vtbl, 1);
-        }
-    }
+  ret = nsh_session(pstate);
 
-  /* Clean up.  We do not get here, but this is necessary to keep some
-   * compilers happy.  But others will complain that this code is not
-   * reachable.
-   */
+  /* Exit upon return */
 
-  nsh_exit(&pstate->cn_vtbl, 0);
-  return OK;
+  nsh_exit(&pstate->cn_vtbl, ret);
+  return ret;
 }
+
+#endif /* !HAVE_USB_CONSOLE */
diff --git a/apps/nshlib/nsh_ddcmd.c b/apps/nshlib/nsh_ddcmd.c
index 40a3710b1..e6ef2523c 100644
--- a/apps/nshlib/nsh_ddcmd.c
+++ b/apps/nshlib/nsh_ddcmd.c
@@ -545,7 +545,7 @@ int cmd_dd(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
     }
 #endif
 
-  if (dd.skip < 0 || dd.skip > dd.nsectors)
+  if (dd.skip > dd.nsectors)
     {
       nsh_output(vtbl, g_fmtarginvalid, g_dd);
       goto errout_with_paths;
diff --git a/apps/nshlib/nsh_fscmds.c b/apps/nshlib/nsh_fscmds.c
index 1a9f2eb57..f47dca896 100644
--- a/apps/nshlib/nsh_fscmds.c
+++ b/apps/nshlib/nsh_fscmds.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  * apps/nshlib/nsh_fscmds.c
  *
- *   Copyright (C) 2007-2009, 2011-2012 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2007-2009, 2011-2013 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -1221,71 +1221,6 @@ int cmd_rmdir(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
 #endif
 
 /****************************************************************************
- * Name: nsh_script
- ****************************************************************************/
-
-#if  CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_NFILE_STREAMS > 0 && !defined(CONFIG_NSH_DISABLESCRIPT)
-int nsh_script(FAR struct nsh_vtbl_s *vtbl, const char *cmd, const char *path)
-{
-  char *fullpath;
-  FILE *stream;
-  char *buffer;
-  char *pret;
-  int ret = ERROR;
-
-  /* The path to the script may be relative to the current working directory */
-
-  fullpath = nsh_getfullpath(vtbl, path);
-  if (!fullpath)
-    {
-      return ERROR;
-    }
-
-  /* Get a reference to the common input buffer */
-
-  buffer = nsh_linebuffer(vtbl);
-  if (buffer)
-    {
-      /* Open the file containing the script */
-
-      stream = fopen(fullpath, "r");
-      if (!stream)
-        {
-          nsh_output(vtbl, g_fmtcmdfailed, cmd, "fopen", NSH_ERRNO);
-          nsh_freefullpath(fullpath);
-          return ERROR;
-        }
-
-      /* Loop, processing each command line in the script file (or
-       * until an error occurs)
-       */
-
-      do
-        {
-          /* Get the next line of input from the file */
-
-          fflush(stdout);
-          pret = fgets(buffer, CONFIG_NSH_LINELEN, stream);
-          if (pret)
-            {
-              /* Parse process the command.  NOTE:  this is recursive...
-               * we got to cmd_sh via a call to nsh_parse.  So some
-               * considerable amount of stack may be used.
-               */
-
-              ret = nsh_parse(vtbl, buffer);
-            }
-        }
-      while (pret && ret == OK);
-      fclose(stream);
-    }
-
-  nsh_freefullpath(fullpath);
-  return ret;
-}
-#endif
-
-/****************************************************************************
  * Name: cmd_sh
  ****************************************************************************/
 
diff --git a/apps/nshlib/nsh_script.c b/apps/nshlib/nsh_script.c
new file mode 100644
index 000000000..3aa698b31
--- /dev/null
+++ b/apps/nshlib/nsh_script.c
@@ -0,0 +1,195 @@
+/****************************************************************************
+ * apps/nshlib/nsh_script.c
+ *
+ *   Copyright (C) 2007-2009, 2011-2013 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 "nsh.h"
+#include "nsh_console.h"
+
+#if  CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_NFILE_STREAMS > 0 && !defined(CONFIG_NSH_DISABLESCRIPT)
+
+/****************************************************************************
+ * Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: nsh_script
+ *
+ * Description:
+ *   Execute the NSH script at path.
+ *
+ ****************************************************************************/
+
+int nsh_script(FAR struct nsh_vtbl_s *vtbl, FAR const char *cmd,
+               FAR const char *path)
+{
+  char *fullpath;
+  FILE *stream;
+  char *buffer;
+  char *pret;
+  int ret = ERROR;
+
+  /* The path to the script may be relative to the current working directory */
+
+  fullpath = nsh_getfullpath(vtbl, path);
+  if (!fullpath)
+    {
+      return ERROR;
+    }
+
+  /* Get a reference to the common input buffer */
+
+  buffer = nsh_linebuffer(vtbl);
+  if (buffer)
+    {
+      /* Open the file containing the script */
+
+      stream = fopen(fullpath, "r");
+      if (!stream)
+        {
+          nsh_output(vtbl, g_fmtcmdfailed, cmd, "fopen", NSH_ERRNO);
+          nsh_freefullpath(fullpath);
+          return ERROR;
+        }
+
+      /* Loop, processing each command line in the script file (or
+       * until an error occurs)
+       */
+
+      do
+        {
+          /* Get the next line of input from the file */
+
+          fflush(stdout);
+          pret = fgets(buffer, CONFIG_NSH_LINELEN, stream);
+          if (pret)
+            {
+              /* Parse process the command.  NOTE:  this is recursive...
+               * we got to cmd_sh via a call to nsh_parse.  So some
+               * considerable amount of stack may be used.
+               */
+
+              ret = nsh_parse(vtbl, buffer);
+            }
+        }
+      while (pret && ret == OK);
+      fclose(stream);
+    }
+
+  nsh_freefullpath(fullpath);
+  return ret;
+}
+
+/****************************************************************************
+ * Name: nsh_initscript
+ *
+ * Description:
+ *   Attempt to execute the configured initialization script.  This script
+ *   should be executed once when NSH starts.  nsh_initscript is idempotent
+ *   and may, however, be called multiple times (the script will be executed
+ *   once.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_NSH_ROMFSETC
+int nsh_initscript(FAR struct nsh_vtbl_s *vtbl)
+{
+  static bool initialized;
+  bool already;
+  int ret = OK;
+
+  /* Atomic test and set of the initialized flag */
+
+  sched_lock();
+  already     = initialized;
+  initialized = true;
+  sched_unlock();
+
+  /* If we have not already executed the init script, then do so now */
+
+  if (!already)
+    {
+      ret = nsh_script(vtbl, "init", NSH_INITPATH);
+    }
+
+  return ret;
+}
+
+/****************************************************************************
+ * Name: nsh_loginscript
+ *
+ * Description:
+ *   Attempt to execute the configured login script.  This script
+ *   should be executed when each NSH session starts.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_NSH_ROMFSRC
+int nsh_loginscript(FAR struct nsh_vtbl_s *vtbl)
+{
+  return nsh_script(vtbl, "login", NSH_RCPATH);
+}
+#endif
+#endif /* CONFIG_NSH_ROMFSETC */
+
+#endif /* CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_NFILE_STREAMS > 0 && !CONFIG_NSH_DISABLESCRIPT */
diff --git a/apps/nshlib/nsh_session.c b/apps/nshlib/nsh_session.c
new file mode 100644
index 000000000..8079b2de5
--- /dev/null
+++ b/apps/nshlib/nsh_session.c
@@ -0,0 +1,163 @@
+/****************************************************************************
+ * apps/nshlib/nsh_session.c
+ *
+ *   Copyright (C) 2007-2009, 2011-2013 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 Gregory Nutt 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 <stdlib.h>
+
+#include <apps/readline.h>
+
+#include "nsh.h"
+#include "nsh_console.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: nsh_session
+ *
+ * Description:
+ *   This is the common session logic or any NSH session.  This function
+ *   return when an error reading from the input stream occurs, presumably
+ *   signaling the end of the session.
+ *
+ *   This function:
+ *   - Executes the NSH logic script
+ *   - Presents a greeting
+ *   - Then provides a prompt then gets and processes the command line.
+ *   - This continues until an error occurs, then the session returns.
+ *
+ * Input Parameters:
+ *   pstate - Abstracts the underlying session.
+ *
+ * Returned Values:
+ *   EXIT_SUCESS or EXIT_FAILURE is returned.
+ *  
+ ****************************************************************************/
+
+int nsh_session(FAR struct console_stdio_s *pstate)
+{
+  int ret;
+
+  DEBUGASSERT(pstate);
+
+  /* Present a greeting */
+
+  fputs(g_nshgreeting, pstate->cn_outstream);
+  fflush(pstate->cn_outstream);
+
+  /* Execute the login script */
+
+#ifdef CONFIG_NSH_ROMFSRC
+  (void)nsh_loginscript(&pstate->cn_vtbl);
+#endif
+
+  /* Then enter the command line parsing loop */
+
+  for (;;)
+    {
+      /* For the case of debugging the USB console... dump collected USB trace data */
+
+#ifdef CONFIG_NSH_USBDEV_TRACE
+      nsh_usbtrace();
+#endif
+
+      /* Display the prompt string */
+
+      fputs(g_nshprompt, pstate->cn_outstream);
+      fflush(pstate->cn_outstream);
+
+      /* Get the next line of input */
+
+      ret = readline(pstate->cn_line, CONFIG_NSH_LINELEN,
+                     INSTREAM(pstate), OUTSTREAM(pstate));
+      if (ret > 0)
+        {
+          /* Parse process the command */
+
+          (void)nsh_parse(&pstate->cn_vtbl, pstate->cn_line);
+          fflush(pstate->cn_outstream);
+        }
+
+      /* Readline normally returns the number of characters read,
+       * but will return 0 on end of file or a negative value
+       * if an error occurs.  Either will cause the session to
+       * terminate.
+       */
+
+      else
+        {
+          fprintf(pstate->cn_outstream, g_fmtcmdfailed, "nsh_session", 
+                  "readline", NSH_ERRNO_OF(-ret));
+          return ret == 0 ? EXIT_SUCCESS : EXIT_FAILURE;
+        }
+    }
+
+  /* We do not get here, but this is necessary to keep some compilers happy.
+   * But others will complain that this code is not reachable.
+   */
+
+  return EXIT_SUCCESS;
+}
diff --git a/apps/nshlib/nsh_telnetd.c b/apps/nshlib/nsh_telnetd.c
index 478935d7f..76ed81086 100644
--- a/apps/nshlib/nsh_telnetd.c
+++ b/apps/nshlib/nsh_telnetd.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  * apps/nshlib/nsh_telnetd.c
  *
- *   Copyright (C) 2007-2012 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2007-2013 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -198,15 +198,29 @@ int nsh_telnetmain(int argc, char *argv[])
     }
 #endif /* CONFIG_NSH_TELNET_LOGIN */
 
+  /* The following logic mostly the same as the login in nsh_session.c.  It
+   * differs only in that gets() is called to get the command instead of
+   * readline().
+   */
+
   /* Present the NSH greeting */
 
   fputs(g_nshgreeting, pstate->cn_outstream);
   fflush(pstate->cn_outstream);
 
-  /* Execute the startup script */
+  /* Execute the startup script.  If standard console is also defined, then
+   * we will not bother with the initscript here (although it is safe to
+   * call nshinitscript multiple times).
+   */
 
 #if defined(CONFIG_NSH_ROMFSETC) && !defined(CONFIG_NSH_CONSOLE)
-  (void)nsh_script(&pstate->cn_vtbl, "init", NSH_INITPATH);
+  (void)nsh_initscript(&pstate->cn_vtbl);
+#endif
+
+  /* Execute the login script */
+
+#ifdef CONFIG_NSH_ROMFSRC
+  (void)nsh_loginscript(&pstate->cn_vtbl);
 #endif
 
   /* Then enter the command line parsing loop */
@@ -261,8 +275,8 @@ int nsh_telnetmain(int argc, char *argv[])
  *   NuttX configuration setting.
  *
  * Returned Values:
- *   Zero if the Telnet daemon was successfully started.  A negated errno
- *   value will be returned on failure.
+ *   The task ID of the Telnet daemon was successfully started.  A negated
+ *   errno value will be returned on failure.
  *  
  ****************************************************************************/
 
@@ -271,6 +285,15 @@ int nsh_telnetstart(void)
   struct telnetd_config_s config;
   int ret;
 
+  /* Initialize any USB tracing options that were requested.  If standard
+   * console is also defined, then we will defer this step to the standard
+   * console.
+   */
+
+#if defined(CONFIG_NSH_USBDEV_TRACE) && !defined(CONFIG_NSH_CONSOLE)
+  usbtrace_enable(TRACE_BITSET);
+#endif
+
   /* Configure the telnet daemon */
 
   config.d_port      = HTONS(CONFIG_NSH_TELNETD_PORT);
diff --git a/apps/nshlib/nsh_usbdev.c b/apps/nshlib/nsh_usbdev.c
index 3d123532a..193fe0d79 100644
--- a/apps/nshlib/nsh_usbdev.c
+++ b/apps/nshlib/nsh_usbdev.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  * apps/nshlib/nsh_usbdev.c
  *
- *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2012-2013 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -55,15 +55,20 @@
 #endif
 
 #include "nsh.h"
-
-#ifdef CONFIG_USBDEV
+#include "nsh_console.h"
 
 /****************************************************************************
- * Definitions
+ * Pre-processor Definitions
  ****************************************************************************/
-
-#if defined(CONFIG_DEBUG) || defined(CONFIG_NSH_USBCONSOLE)
-#  define trmessage lib_lowprintf
+/* Output USB trace data to the console device using printf() unless (1)
+ * debug is enabled, then we want to keep the trace output in sync with the
+ * debug output by using syslog()we are using a USB console.  In that case,
+ * we don't want the trace output on the USB console; let's try sending it
+ * a SYSLOG device (hopefully one is set up!)
+ */
+
+#if defined(CONFIG_DEBUG) || defined(HAVE_USB_CONSOLE)
+#  define trmessage syslog
 #else
 #  define trmessage printf
 #endif
@@ -92,7 +97,15 @@
  * Name: nsh_tracecallback
  ****************************************************************************/
 
-#ifdef CONFIG_USBDEV_TRACE
+/****************************************************************************
+ * Name: nsh_tracecallback
+ *
+ * Description:
+ *   This is part of the USB trace logic
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_NSH_USBDEV_TRACE
 static int nsh_tracecallback(struct usbtrace_s *trace, void *arg)
 {
   usbtrace_trprintf((trprintf_t)trmessage, trace->event, trace->value);
@@ -101,45 +114,103 @@ static int nsh_tracecallback(struct usbtrace_s *trace, void *arg)
 #endif
 
 /****************************************************************************
- * Public Functions
+ * Name: nsh_configstdio
+ *
+ * Description:
+ *   Configure standard I/O
+ *
  ****************************************************************************/
 
+#ifdef HAVE_USB_CONSOLE
+static void nsh_configstdio(int fd)
+{
+  /* Make sure the stdin, stdout, and stderr are closed */
+
+  (void)fclose(stdin);
+  (void)fclose(stdout);
+  (void)fclose(stderr);
+
+  /* Dup the fd to create standard fd 0-2 */
+
+  (void)dup2(fd, 0);
+  (void)dup2(fd, 1);
+  (void)dup2(fd, 2);
+
+  /* fdopen to get the stdin, stdout and stderr streams. The following logic depends
+   * on the fact that the library layer will allocate FILEs in order.  And since
+   * we closed stdin, stdout, and stderr above, that is what we should get.
+   *
+   * fd = 0 is stdin  (read-only)
+   * fd = 1 is stdout (write-only, append)
+   * fd = 2 is stderr (write-only, append)
+   */
+
+  (void)fdopen(0, "r");
+  (void)fdopen(1, "a");
+  (void)fdopen(2, "a");
+}
+#endif
+
 /****************************************************************************
- * Name: nsh_usbconsole
+ * Name: nsh_nullstdio
+ *
+ * Description:
+ *   Use /dev/null for standard I/O
+ *
  ****************************************************************************/
 
 #ifdef HAVE_USB_CONSOLE
-int nsh_usbconsole(void)
+static int nsh_nullstdio(void)
 {
-  char inch;
-  ssize_t nbytes;
-  int nlc;
   int fd;
-  int ret;
 
-  /* Initialize any USB tracing options that were requested */
+  /* Open /dev/null for read/write access */
 
-#ifdef CONFIG_USBDEV_TRACE
-  usbtrace_enable(TRACE_BITSET);
+  fd = open("/dev/null", O_RDWR);
+  if (fd >= 0)
+    {
+      /* Configure standard I/O to use /dev/null */
+
+      nsh_configstdio(fd);
+
+      /* We can close the original file descriptor now (unless it was one of
+       * 0-2)
+       */
+
+      if (fd > 2)
+       {
+          close(fd);
+       }
+
+      return OK;
+    }
+
+  return fd;
+}
 #endif
 
+/****************************************************************************
+ * Name: nsh_waitusbready
+ *
+ * Description:
+ *   Wait for the USB console device to be ready
+ *
+ ****************************************************************************/
+
+#ifdef HAVE_USB_CONSOLE
+static int nsh_waitusbready(void)
+{
+  char inch;
+  ssize_t nbytes;
+  int nlc;
+  int fd;
+
   /* Don't start the NSH console until the console device is ready.  Chances
    * are, we get here with no functional console.  The USB console will not
    * be available until the device is connected to the host and until the
    * host-side application opens the connection.
    */
 
-  /* Initialize the USB serial driver */
-
-#if defined(CONFIG_PL2303) || defined(CONFIG_CDCACM)
-#ifdef CONFIG_CDCACM
-  ret = cdcacm_initialize(CONFIG_NSH_UBSDEV_MINOR, NULL);
-#else
-  ret = usbdev_serialinitialize(CONFIG_NSH_UBSDEV_MINOR);
-#endif
-  DEBUGASSERT(ret == OK);
-#endif
-
   /* Open the USB serial device for read/write access */
 
   do
@@ -193,17 +264,9 @@ int nsh_usbconsole(void)
     }
   while (nlc < 3);
 
-  /* Make sure the stdin, stdout, and stderr are closed */
-
-  (void)fclose(stdin);
-  (void)fclose(stdout);
-  (void)fclose(stderr);
+  /* Configure standard I/O */
 
-  /* Dup the fd to create standard fd 0-2 */
-
-  (void)dup2(fd, 0);
-  (void)dup2(fd, 1);
-  (void)dup2(fd, 2);
+  nsh_configstdio(fd);
 
   /* We can close the original file descriptor now (unless it was one of 0-2) */
 
@@ -212,32 +275,117 @@ int nsh_usbconsole(void)
       close(fd);
     }
 
-  /* fdopen to get the stdin, stdout and stderr streams. The following logic depends
-   * on the fact that the library layer will allocate FILEs in order.  And since
-   * we closed stdin, stdout, and stderr above, that is what we should get.
-   *
-   * fd = 0 is stdin  (read-only)
-   * fd = 1 is stdout (write-only, append)
-   * fd = 2 is stderr (write-only, append)
-   */
-
-  (void)fdopen(0, "r");
-  (void)fdopen(1, "a");
-  (void)fdopen(2, "a");
   return OK;
 }
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: nsh_consolemain (USB console version)
+ *
+ * Description:
+ *   This interfaces maybe to called or started with task_start to start a
+ *   single an NSH instance that operates on stdin and stdout.  This
+ *   function does not return.
+ *
+ *   This function handles generic /dev/console character devices, or 
+ *   special USB console devices.  The USB console requires some special
+ *   operations to handle the cases where the session is lost when the
+ *   USB device is unplugged and restarted when the USB device is plugged
+ *   in again.
+  *
+ * Input Parameters:
+ *   Standard task start-up arguments.  These are not used.  argc may be
+ *   zero and argv may be NULL.
+ *
+ * Returned Values:
+ *   This function does not return nor does it ever exit (unless the user
+ *   executes the NSH exit command).
+ *  
+ ****************************************************************************/
+
+#ifdef HAVE_USB_CONSOLE
+int nsh_consolemain(int argc, char *argv[])
+{
+  FAR struct console_stdio_s *pstate = nsh_newconsole();
+  int ret;
+
+  DEBUGASSERT(pstate);
+
+  /* Initialize any USB tracing options that were requested */
+
+#ifdef CONFIG_NSH_USBDEV_TRACE
+  usbtrace_enable(TRACE_BITSET);
+#endif
+
+  /* Initialize the USB serial driver */
 
-#endif /* HAVE_USB_CONSOLE */
+#if defined(CONFIG_PL2303) || defined(CONFIG_CDCACM)
+#ifdef CONFIG_CDCACM
+  ret = cdcacm_initialize(CONFIG_NSH_USBDEV_MINOR, NULL);
+#else
+  ret = usbdev_serialinitialize(CONFIG_NSH_USBDEV_MINOR);
+#endif
+  DEBUGASSERT(ret == OK);
+#endif
+
+  /* Configure to use /dev/null if we do not have a valid console. */
+
+#ifndef CONFIG_DEV_CONSOLE
+  (void)nsh_nullstdio();
+#endif
+
+  /* Execute the one-time start-up script (output may go to /dev/null) */
+
+#ifdef CONFIG_NSH_ROMFSETC
+  (void)nsh_initscript(&pstate->cn_vtbl);
+#endif
+
+  /* Now loop, executing creating a session for each USB connection */
+
+  for (;;)
+    {
+      /* Wait for the USB to be connected to the host and switch
+       * standard I/O to the USB serial device.
+       */
+
+      ret = nsh_waitusbready();
+      DEBUGASSERT(ret == OK);
+
+      /* Execute the session */
+
+      (void)nsh_session(pstate);
+
+      /* Switch to /dev/null because we probably no longer have a
+       * valid console device.
+       */
+
+      (void)nsh_nullstdio();
+    }
+}
+#endif
 
 /****************************************************************************
  * Name: nsh_usbtrace
+ *
+ * Description:
+ *   The function is called from the nsh_session() to dump USB data to the
+ *   SYSLOG device.
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Values:
+ *   None
+ *  
  ****************************************************************************/
 
-#if defined(CONFIG_USBDEV_TRACE) && defined(HAVE_USB_CONSOLE)
+#ifdef CONFIG_NSH_USBDEV_TRACE
 void nsh_usbtrace(void)
 {
   (void)usbtrace_enumerate(nsh_tracecallback, NULL);
 }
 #endif
-
-#endif /* CONFIG_USBDEV */
diff --git a/apps/px4/tests/test_adc.c b/apps/px4/tests/test_adc.c
index 4c021303f..030ac6e23 100644
--- a/apps/px4/tests/test_adc.c
+++ b/apps/px4/tests/test_adc.c
@@ -60,8 +60,10 @@ int test_adc(int argc, char *argv[])
 {
 	int fd = open(ADC_DEVICE_PATH, O_RDONLY);
 
-	if (fd < 0)
-		err(1, "can't open ADC device");
+	if (fd < 0) {
+		warnx("ERROR: can't open ADC device");
+		return 1;
+	}
 
 	for (unsigned i = 0; i < 5; i++) {
 		/* make space for a maximum of eight channels */
@@ -82,7 +84,7 @@ int test_adc(int argc, char *argv[])
 		usleep(150000);
 	}
 
-	message("\t ADC test successful.\n");
+	warnx("\t ADC test successful.\n");
 
 errout_with_dev:
 
diff --git a/apps/px4/tests/tests.h b/apps/px4/tests/tests.h
index cc3f5493a..c02ea6808 100644
--- a/apps/px4/tests/tests.h
+++ b/apps/px4/tests/tests.h
@@ -48,7 +48,7 @@
 
 #ifdef CONFIG_CPP_HAVE_VARARGS
 #  ifdef CONFIG_DEBUG
-#    define message(...) lib_rawprintf(__VA_ARGS__)
+#    define message(...) lowsyslog(__VA_ARGS__)
 #    define msgflush()
 #  else
 #    define message(...) printf(__VA_ARGS__)
@@ -56,7 +56,7 @@
 #  endif
 #else
 #  ifdef CONFIG_DEBUG
-#    define message lib_rawprintf
+#    define message lowsyslog
 #    define msgflush()
 #  else
 #    define message printf
diff --git a/apps/px4/tests/tests_main.c b/apps/px4/tests/tests_main.c
index ad6828f20..9f8c5c9ea 100644
--- a/apps/px4/tests/tests_main.c
+++ b/apps/px4/tests/tests_main.c
@@ -135,6 +135,7 @@ test_all(int argc, char *argv[])
 	unsigned	i;
 	char		*args[2] = {"all", NULL};
 	unsigned int failcount = 0;
+	unsigned int testcount = 0;
 	bool		passed[NTESTS];
 
 	printf("\nRunning all tests...\n\n");
@@ -156,6 +157,7 @@ test_all(int argc, char *argv[])
 				fflush(stdout);
 				passed[i] = true;
 			}
+			testcount++;
 		}
 	}
 
@@ -178,7 +180,7 @@ test_all(int argc, char *argv[])
 		printf("  \\ \\_\\ \\_\\  \\ \\_____\\  \\ \\_____\\     \\ \\_____\\  \\ \\_\\ \\_\\ \n");
 		printf("   \\/_/\\/_/   \\/_____/   \\/_____/      \\/_____/   \\/_/\\/_/ \n");
 		printf("\n");
-		printf(" All tests passed (%d of %d)\n", i, i);
+		printf(" All tests passed (%d of %d)\n", testcount, testcount);
 
 	} else {
 		printf("  ______   ______     __     __ \n");
@@ -187,7 +189,7 @@ test_all(int argc, char *argv[])
 		printf("  \\ \\_\\    \\ \\_\\ \\_\\  \\ \\_\\  \\ \\_____\\ \n");
 		printf("   \\/_/     \\/_/\\/_/   \\/_/   \\/_____/ \n");
 		printf("\n");
-		printf(" Some tests failed (%d of %d)\n", failcount, i);
+		printf(" Some tests failed (%d of %d)\n", failcount, testcount);
 	}
 
 	printf("\n");
@@ -245,6 +247,7 @@ int test_jig(int argc, char *argv[])
 	unsigned	i;
 	char		*args[2] = {"jig", NULL};
 	unsigned int failcount = 0;
+	unsigned int testcount = 0;
 	bool		passed[NTESTS];
 
 	printf("\nRunning all tests...\n\n");
@@ -264,6 +267,7 @@ int test_jig(int argc, char *argv[])
 				fflush(stdout);
 				passed[i] = true;
 			}
+			testcount++;
 		}
 	}
 
@@ -284,7 +288,7 @@ int test_jig(int argc, char *argv[])
 		printf("  \\ \\_\\ \\_\\  \\ \\_____\\  \\ \\_____\\     \\ \\_____\\  \\ \\_\\ \\_\\ \n");
 		printf("   \\/_/\\/_/   \\/_____/   \\/_____/      \\/_____/   \\/_/\\/_/ \n");
 		printf("\n");
-		printf(" All tests passed (%d of %d)\n", i, i);
+		printf(" All tests passed (%d of %d)\n", testcount, testcount);
 	} else {
 		printf("  ______   ______     __     __ \n");
 		printf(" /\\  ___\\ /\\  __ \\   /\\ \\   /\\ \\    \n");
@@ -292,7 +296,7 @@ int test_jig(int argc, char *argv[])
 		printf("  \\ \\_\\    \\ \\_\\ \\_\\  \\ \\_\\  \\ \\_____\\ \n");
 		printf("   \\/_/     \\/_/\\/_/   \\/_/   \\/_____/ \n");
 		printf("\n");
-		printf(" Some tests failed (%d of %d)\n", failcount, i);
+		printf(" Some tests failed (%d of %d)\n", failcount, testcount);
 	}
 	printf("\n");
 
diff --git a/apps/px4io/mixer.cpp b/apps/px4io/mixer.cpp
index c24cb8e52..8e00781a0 100644
--- a/apps/px4io/mixer.cpp
+++ b/apps/px4io/mixer.cpp
@@ -144,7 +144,7 @@ mixer_tick(void)
 				rc_channel_data[THROTTLE] = 1000;
 			}
 			
-			// lib_lowprintf("Tmin: %d Ttrim: %d Tmax: %d T: %d \n",
+			// lowsyslog("Tmin: %d Ttrim: %d Tmax: %d T: %d \n",
 			// 	(int)(system_state.rc_min[THROTTLE]), (int)(system_state.rc_trim[THROTTLE]),
 			// 	(int)(system_state.rc_max[THROTTLE]), (int)(rc_channel_data[THROTTLE]));
 
@@ -156,7 +156,7 @@ mixer_tick(void)
 			// XXX builtin failsafe would activate here
 			control_count = 0;
 		}
-		//lib_lowprintf("R: %d P: %d Y: %d T: %d \n", control_values[0], control_values[1], control_values[2], control_values[3]);
+		//lowsyslog("R: %d P: %d Y: %d T: %d \n", control_values[0], control_values[1], control_values[2], control_values[3]);
 
 	/* this is for multicopters, etc. where manual override does not make sense */
 	} else {
diff --git a/apps/px4io/px4io.c b/apps/px4io/px4io.c
index bea9d59bc..88342816e 100644
--- a/apps/px4io/px4io.c
+++ b/apps/px4io/px4io.c
@@ -73,7 +73,7 @@ int user_start(int argc, char *argv[])
 	hrt_init();
 
 	/* print some startup info */
-	lib_lowprintf("\nPX4IO: starting\n");
+	lowsyslog("\nPX4IO: starting\n");
 
 	/* default all the LEDs to off while we start */
 	LED_AMBER(false);
@@ -98,7 +98,7 @@ int user_start(int argc, char *argv[])
 
 
 	struct mallinfo minfo = mallinfo();
-	lib_lowprintf("free %u largest %u\n", minfo.mxordblk, minfo.fordblks);
+	lowsyslog("free %u largest %u\n", minfo.mxordblk, minfo.fordblks);
 
 	/* we're done here, go run the communications loop */
 	comms_main();
diff --git a/apps/px4io/px4io.h b/apps/px4io/px4io.h
index e388f65e3..3ce6afc31 100644
--- a/apps/px4io/px4io.h
+++ b/apps/px4io/px4io.h
@@ -58,7 +58,7 @@
 
 #ifdef DEBUG
 # include <debug.h>
-# define debug(fmt, args...)	lib_lowprintf(fmt "\n", ##args)
+# define debug(fmt, args...)	lowsyslog(fmt "\n", ##args)
 #else
 # define debug(fmt, args...)	do {} while(0)
 #endif
diff --git a/apps/system/Kconfig b/apps/system/Kconfig
index d4d434665..6c8651088 100644
--- a/apps/system/Kconfig
+++ b/apps/system/Kconfig
@@ -34,3 +34,7 @@ endmenu
 menu "Sysinfo"
 source "$APPSDIR/system/sysinfo/Kconfig"
 endmenu
+
+menu "USB Monitor"
+source "$APPSDIR/system/usbmonitor/Kconfig"
+endmenu
diff --git a/apps/system/Make.defs b/apps/system/Make.defs
index 3d10f84e5..3c679f112 100644
--- a/apps/system/Make.defs
+++ b/apps/system/Make.defs
@@ -66,3 +66,6 @@ ifeq ($(CONFIG_SYSTEM_SYSINFO),y)
 CONFIGURED_APPS += system/sysinfo
 endif
 
+ifeq ($(CONFIG_SYSTEM_USBMONITOR),y)
+CONFIGURED_APPS += system/usbmonitor
+endif
diff --git a/apps/system/Makefile b/apps/system/Makefile
index 057fbcf77..f39eedec4 100644
--- a/apps/system/Makefile
+++ b/apps/system/Makefile
@@ -37,7 +37,7 @@
 
 # Sub-directories containing system task
 
-SUBDIRS = free i2c install readline poweroff ramtron sdcard sysinfo
+SUBDIRS = free i2c install readline poweroff ramtron sdcard sysinfo usbmonitor
 
 # Create the list of installed runtime modules (INSTALLED_DIRS)
 
diff --git a/apps/system/free/README.txt b/apps/system/free/README.txt
deleted file mode 100644
index 1c2d380d4..000000000
--- a/apps/system/free/README.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-
-This application provides UNIX style memory free information.
-
-	Source: NuttX
-	Author: Gregory Nutt <gnutt@nuttx.org>
-	Date: 17. March 2011
diff --git a/apps/system/readline/readline.c b/apps/system/readline/readline.c
index f64049ed7..bac7eee8c 100644
--- a/apps/system/readline/readline.c
+++ b/apps/system/readline/readline.c
@@ -132,23 +132,33 @@ static inline int readline_rawgetc(int infd)
 
       nread = read(infd, &buffer, 1);
 
-      /* Return EOF if the end of file (0) or error (-1) occurs. */
+      /* Check for end-of-file. */
  
-      if (nread < 1)
+      if (nread == 0)
+        {
+          /* Return zero on end-of-file */
+
+          return 0;
+        }
+
+      /* Check if an error occurred */
+
+      else if (nread < 0)
         {
           /* EINTR is not really an error; it simply means that a signal we
            * received while watiing for intput.
            */
 
-          if (nread == 0 ||  errno != EINTR)
+          int errcode = errno;
+          if (errcode != EINTR)
             {
-              return EOF;
+              return -errcode;
             }
         }
     }
   while (nread < 1);
 
-  /* On success, returnt he character that was read */
+  /* On success, return the character that was read */
 
   return (int)buffer;
 }
@@ -275,9 +285,29 @@ ssize_t readline(FAR char *buf, int buflen, FILE *instream, FILE *outstream)
 
       int ch = readline_rawgetc(infd);
 
+      /* Check for end-of-file or read error */
+
+      if (ch <= 0)
+        {
+          /* Did we already received some data? */
+
+          if (nch > 0)
+            {
+              /* Yes.. Terminate the line (which might be zero length)
+               * and return the data that was received.  The end-of-file
+               * or error condition will be reported next time.
+               */
+
+              buf[nch] = '\0';
+              return nch;
+            }
+
+          return ch;
+        }
+
       /* Are we processing a VT100 escape sequence */
 
-      if (escape)
+      else if (escape)
         {
           /* Yes, is it an <esc>[, 3 byte sequence */
 
@@ -366,16 +396,6 @@ ssize_t readline(FAR char *buf, int buflen, FILE *instream, FILE *outstream)
           return nch;
         }
 
-      /* Check for end-of-file */
-
-      else if (ch == EOF)
-        {
-          /* Terminate the line (which might be zero length) */
-
-          buf[nch] = '\0';
-          return nch;
-        }
-
       /* Otherwise, check if the character is printable and, if so, put the
        * character in the line buffer
        */
diff --git a/apps/system/usbmonitor/Kconfig b/apps/system/usbmonitor/Kconfig
new file mode 100644
index 000000000..bde97de15
--- /dev/null
+++ b/apps/system/usbmonitor/Kconfig
@@ -0,0 +1,67 @@
+#
+# For a description of the syntax of this configuration file,
+# see misc/tools/kconfig-language.txt.
+#
+
+config SYSTEM_USBMONITOR
+	bool "USB Monitor"
+	default n
+	depends on USBDEV && USBDEV_TRACE && SYSLOG
+	---help---
+		If USB device tracing is enabled (USBDEV_TRACE), then this option
+		will select the USB monitor.  The USB monitor is a daemon that will
+		periodically collect the buffered USB trace data and dump it to the
+		SYSLOG device.
+
+if SYSTEM_USBMONITOR
+
+config SYSTEM_USBMONITOR_STACKSIZE
+	int "USB Monitor daemon stack size"
+	default 2048
+	---help---
+		The stack size to use the the USB monitor daemon.  Default: 2048
+
+config SYSTEM_USBMONITOR_PRIORITY
+	int "USB Monitor daemon priority"
+	default 50
+	---help---
+		The priority to use the the USB monitor daemon.  Default: 50
+
+config SYSTEM_USBMONITOR_INTERVAL
+	int "USB Monitor dump frequency"
+	default 2
+	---help---
+		The rate in seconds that the USB monitor will wait before dumping
+		the next set of buffered USB trace data.  Default:  2 seconds.
+
+config SYSTEM_USBMONITOR_TRACEINIT
+	bool "Show initialization events"
+	default n
+	---help---
+		Show initialization events
+
+config SYSTEM_USBMONITOR_TRACECLASS
+	bool "Show class driver events"
+	default n
+	---help---
+		Show class driver events
+
+config SYSTEM_USBMONITOR_TRACETRANSFERS
+	bool "Show data transfer events"
+	default n
+	---help---
+		Show data transfer events
+
+config SYSTEM_USBMONITOR_TRACECONTROLLER
+	bool "Show controller events"
+	default n
+	---help---
+		Show controller events
+
+config SYSTEM_USBMONITOR_TRACEINTERRUPTS
+	bool "Show interrupt-related events"
+	default n
+	---help---
+		Show interrupt-related events
+endif
+
diff --git a/apps/system/usbmonitor/Makefile b/apps/system/usbmonitor/Makefile
new file mode 100644
index 000000000..56b6ccee1
--- /dev/null
+++ b/apps/system/usbmonitor/Makefile
@@ -0,0 +1,117 @@
+############################################################################
+# apps/system/usbmonitor/Makefile
+#
+#   Copyright (C) 2013 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name NuttX nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+-include $(TOPDIR)/.config
+-include $(TOPDIR)/Make.defs
+include $(APPDIR)/Make.defs
+
+ifeq ($(WINTOOL),y)
+INCDIROPT	= -w
+endif
+
+# USB Monitor Application
+
+PRIORITY	= SCHED_PRIORITY_DEFAULT
+STACKSIZE	= 768
+
+ASRCS		=
+CSRCS		= usbmonitor.c
+
+AOBJS		= $(ASRCS:.S=$(OBJEXT))
+COBJS		= $(CSRCS:.c=$(OBJEXT))
+
+SRCS		= $(ASRCS) $(CSRCS)
+OBJS		= $(AOBJS) $(COBJS)
+
+ifeq ($(CONFIG_WINDOWS_NATIVE),y)
+  BIN		= ..\..\libapps$(LIBEXT)
+else
+ifeq ($(WINTOOL),y)
+  BIN		= ..\\..\\libapps$(LIBEXT)
+else
+  BIN		= ../../libapps$(LIBEXT)
+endif
+endif
+
+ROOTDEPPATH	= --dep-path .
+
+# Common build
+
+VPATH		= 
+
+all:	.built
+.PHONY: context depend clean distclean
+
+$(AOBJS): %$(OBJEXT): %.S
+	$(call ASSEMBLE, $<, $@)
+
+$(COBJS): %$(OBJEXT): %.c
+	$(call COMPILE, $<, $@)
+
+.built: $(OBJS)
+	$(call ARCHIVE, $(BIN), $(OBJS))
+	$(Q) touch .built
+
+# Register application
+
+ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
+$(BUILTIN_REGISTRY)$(DELIM)usbmonitor_start.bdat: $(DEPCONFIG) Makefile
+	$(call REGISTER,"usbmon_start",$(PRIORITY),$(STACKSIZE),usbmonitor_start)
+
+$(BUILTIN_REGISTRY)$(DELIM)usbmonitor_stop.bdat: $(DEPCONFIG) Makefile
+	$(call REGISTER,"usbmon_stop",$(PRIORITY),$(STACKSIZE),usbmonitor_stop)
+
+context: $(BUILTIN_REGISTRY)$(DELIM)usbmonitor_start.bdat $(BUILTIN_REGISTRY)$(DELIM)usbmonitor_stop.bdat
+else
+context:
+endif
+
+# Create dependencies
+
+.depend: Makefile $(SRCS)
+	$(Q) $(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
+	$(Q) touch $@
+
+depend: .depend
+
+clean:
+	$(call DELFILE, .built)
+	$(call CLEAN)
+
+distclean: clean
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
+
+-include Make.dep
diff --git a/apps/system/usbmonitor/usbmonitor.c b/apps/system/usbmonitor/usbmonitor.c
new file mode 100644
index 000000000..cde945b43
--- /dev/null
+++ b/apps/system/usbmonitor/usbmonitor.c
@@ -0,0 +1,234 @@
+/****************************************************************************
+ * apps/system/usbmonitor/usbmonitor.c
+ *
+ *   Copyright (C) 2013 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 <nuttx/progmem.h>
+
+#include <sys/types.h>
+#include <stdbool.h>
+#include <unistd.h>
+#include <sched.h>
+#include <syslog.h>
+#include <errno.h>
+
+#include <nuttx/usb/usbdev_trace.h>
+
+#ifdef CONFIG_SYSTEM_USBMONITOR
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define USBMON_PREFIX "USB Monitor: "
+
+/* Configuration ************************************************************/
+
+#ifndef CONFIG_SYSTEM_USBMONITOR_STACKSIZE
+#  define CONFIG_SYSTEM_USBMONITOR_STACKSIZE 2048
+#endif
+
+#ifndef CONFIG_SYSTEM_USBMONITOR_PRIORITY
+#  define CONFIG_SYSTEM_USBMONITOR_PRIORITY 50
+#endif
+
+#ifndef CONFIG_SYSTEM_USBMONITOR_INTERVAL
+#  define CONFIG_SYSTEM_USBMONITOR_INTERVAL 2
+#endif
+
+#ifdef CONFIG_SYSTEM_USBMONITOR_TRACEINIT
+#  define TRACE_INIT_BITS       (TRACE_INIT_BIT)
+#else
+#  define TRACE_INIT_BITS       (0)
+#endif
+
+#define TRACE_ERROR_BITS        (TRACE_DEVERROR_BIT|TRACE_CLSERROR_BIT)
+
+#ifdef CONFIG_SYSTEM_USBMONITOR_TRACECLASS
+#  define TRACE_CLASS_BITS      (TRACE_CLASS_BIT|TRACE_CLASSAPI_BIT|\
+                                   TRACE_CLASSSTATE_BIT)
+#else
+#  define TRACE_CLASS_BITS      (0)
+#endif
+
+#ifdef CONFIG_SYSTEM_USBMONITOR_TRACETRANSFERS
+#  define TRACE_TRANSFER_BITS   (TRACE_OUTREQQUEUED_BIT|TRACE_INREQQUEUED_BIT|\
+                                 TRACE_READ_BIT|TRACE_WRITE_BIT|\
+                                 TRACE_COMPLETE_BIT)
+#else
+#  define TRACE_TRANSFER_BITS   (0)
+#endif
+
+#ifdef CONFIG_SYSTEM_USBMONITOR_TRACECONTROLLER
+#  define TRACE_CONTROLLER_BITS (TRACE_EP_BIT|TRACE_DEV_BIT)
+#else
+#  define TRACE_CONTROLLER_BITS (0)
+#endif
+
+#ifdef CONFIG_SYSTEM_USBMONITOR_TRACEINTERRUPTS
+#  define TRACE_INTERRUPT_BITS  (TRACE_INTENTRY_BIT|TRACE_INTDECODE_BIT|\
+                                 TRACE_INTEXIT_BIT)
+#else
+#  define TRACE_INTERRUPT_BITS  (0)
+#endif
+
+#define TRACE_BITSET            (TRACE_INIT_BITS|TRACE_ERROR_BITS|\
+                                 TRACE_CLASS_BITS|TRACE_TRANSFER_BITS|\
+                                 TRACE_CONTROLLER_BITS|TRACE_INTERRUPT_BITS)
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+struct usbmon_state_s
+{
+  volatile bool started;
+  volatile bool stop;
+  pid_t pid;
+};
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static struct usbmon_state_s g_usbmonitor;
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+static int usbmonitor_tracecallback(struct usbtrace_s *trace, void *arg)
+{
+  usbtrace_trprintf((trprintf_t)syslog, trace->event, trace->value);
+  return 0;
+}
+
+static int usbmonitor_daemon(int argc, char **argv)
+{
+  syslog(USBMON_PREFIX "Running: %d\n", g_usbmonitor.pid);
+
+  /* Loop until we detect that there is a request to stop. */
+
+  while (!g_usbmonitor.stop)
+    {
+      sleep(CONFIG_SYSTEM_USBMONITOR_INTERVAL);
+      (void)usbtrace_enumerate(usbmonitor_tracecallback, NULL);
+    }
+
+  /* Stopped */
+
+  g_usbmonitor.stop    = false;
+  g_usbmonitor.started = false;
+  syslog(USBMON_PREFIX "Stopped: %d\n", g_usbmonitor.pid);
+
+  return 0;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+int usbmonitor_start(int argc, char **argv)
+{
+  /* Has the monitor already started? */
+
+  sched_lock();
+  if (!g_usbmonitor.started)
+    {
+      int ret;
+
+      /* No.. start it now */
+ 
+      /* First, initialize any USB tracing options that were requested */
+
+      usbtrace_enable(TRACE_BITSET);
+
+      /* Then start the USB monitoring daemon */
+
+      g_usbmonitor.started = true;
+      g_usbmonitor.stop    = false;
+
+      ret = TASK_CREATE("USB Monitor", CONFIG_SYSTEM_USBMONITOR_PRIORITY,
+                        CONFIG_SYSTEM_USBMONITOR_STACKSIZE,
+                        (main_t)usbmonitor_daemon, (const char **)NULL);
+      if (ret < 0)
+        {
+          int errcode = errno;
+          syslog(USBMON_PREFIX
+                 "ERROR: Failed to start the USB monitor: %d\n",
+                 errcode);
+        }
+      else
+        {
+          g_usbmonitor.pid = ret;
+          syslog(USBMON_PREFIX "Started: %d\n", g_usbmonitor.pid);
+        }
+
+      sched_unlock();
+      return 0;
+    }
+
+  sched_unlock();
+  syslog(USBMON_PREFIX "%s: %d\n",
+         g_usbmonitor.stop ? "Stopping" : "Running", g_usbmonitor.pid);
+  return 0;
+}
+
+int usbmonitor_stop(int argc, char **argv)
+{
+  /* Has the monitor already started? */
+
+  if (g_usbmonitor.started)
+    {
+      /* Stop the USB monitor.  The next time the monitor wakes up,
+       * it will see the the stop indication and will exist.
+       */
+
+      syslog(USBMON_PREFIX "Stopping: %d\n", g_usbmonitor.pid);
+      g_usbmonitor.stop = true;
+
+      /* We may as well disable tracing since there is no listener */
+
+      usbtrace_enable(0);
+    }
+
+  syslog(USBMON_PREFIX "Stopped: %d\n", g_usbmonitor.pid);
+  return 0;
+}
+
+#endif /* CONFIG_SYSTEM_USBMONITOR */
diff --git a/apps/systemlib/err.c b/apps/systemlib/err.c
index 3011743a1..daf17ef8b 100644
--- a/apps/systemlib/err.c
+++ b/apps/systemlib/err.c
@@ -85,17 +85,17 @@ warnerr_core(int errcode, const char *fmt, va_list args)
 
 	fprintf(stderr, "\n");
 #elif CONFIG_ARCH_LOWPUTC
-	lib_lowprintf("%s: ", getprogname());
-	lib_lowvprintf(fmt, args);
+	lowsyslog("%s: ", getprogname());
+	lowvyslog(fmt, args);
 
 	/* convenience as many parts of NuttX use negative errno */
 	if (errcode < 0)
 		errcode = -errcode;
 
 	if (errcode < NOCODE)
-		lib_lowprintf(": %s", strerror(errcode));
+		lowsyslog(": %s", strerror(errcode));
 
-	lib_lowprintf("\n");
+	lowsyslog("\n");
 #endif
 }
 
diff --git a/apps/systemlib/mixer/mixer_group.cpp b/apps/systemlib/mixer/mixer_group.cpp
index 25d19f9ad..60eeff225 100644
--- a/apps/systemlib/mixer/mixer_group.cpp
+++ b/apps/systemlib/mixer/mixer_group.cpp
@@ -56,7 +56,7 @@
 #define debug(fmt, args...)	do { } while(0)
 //#define debug(fmt, args...)	do { printf("[mixer] " fmt "\n", ##args); } while(0)
 //#include <debug.h>
-//#define debug(fmt, args...)	lib_lowprintf(fmt "\n", ##args)
+//#define debug(fmt, args...)	lowsyslog(fmt "\n", ##args)
 
 MixerGroup::MixerGroup(ControlCallback control_cb, uintptr_t cb_handle) :
 	Mixer(control_cb, cb_handle),
diff --git a/apps/systemlib/mixer/mixer_multirotor.cpp b/apps/systemlib/mixer/mixer_multirotor.cpp
index f6e91b1bf..4b9cfc023 100644
--- a/apps/systemlib/mixer/mixer_multirotor.cpp
+++ b/apps/systemlib/mixer/mixer_multirotor.cpp
@@ -57,7 +57,7 @@
 #define debug(fmt, args...)	do { } while(0)
 //#define debug(fmt, args...)	do { printf("[mixer] " fmt "\n", ##args); } while(0)
 //#include <debug.h>
-//#define debug(fmt, args...)	lib_lowprintf(fmt "\n", ##args)
+//#define debug(fmt, args...)	lowsyslog(fmt "\n", ##args)
 
 /*
  * Clockwise: 1
@@ -217,11 +217,11 @@ unsigned
 MultirotorMixer::mix(float *outputs, unsigned space)
 {
 	float		roll    = get_control(0, 0) * _roll_scale;
-	//lib_lowprintf("roll: %d, get_control0: %d, %d\n", (int)(roll), (int)(get_control(0, 0)), (int)(_roll_scale));
+	//lowsyslog("roll: %d, get_control0: %d, %d\n", (int)(roll), (int)(get_control(0, 0)), (int)(_roll_scale));
 	float		pitch   = get_control(0, 1) * _pitch_scale;
 	float		yaw     = get_control(0, 2) * _yaw_scale;
 	float		thrust  = get_control(0, 3);
-	//lib_lowprintf("thrust: %d, get_control3: %d\n", (int)(thrust), (int)(get_control(0, 3)));
+	//lowsyslog("thrust: %d, get_control3: %d\n", (int)(thrust), (int)(get_control(0, 3)));
 	float		max     = 0.0f;
 	float		fixup_scale;
 
diff --git a/apps/uORB/topics/home_position.h b/apps/uORB/topics/home_position.h
index dec34b6ab..7e1b82a0f 100644
--- a/apps/uORB/topics/home_position.h
+++ b/apps/uORB/topics/home_position.h
@@ -61,10 +61,10 @@ struct home_position_s
 	int32_t lat;                    /**< Latitude in 1E7 degrees */
 	int32_t lon;                    /**< Longitude in 1E7 degrees */
 	int32_t alt;                    /**< Altitude in 1E3 meters (millimeters) above MSL */
-	uint16_t eph;                   /**< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 */
-	uint16_t epv;                   /**< GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 */
-	float s_variance;               /**< speed accuracy estimate cm/s */
-	float p_variance;               /**< position accuracy estimate cm */
+	float eph_m;                   /**< GPS HDOP horizontal dilution of position in m */
+	float epv_m;                   /**< GPS VDOP horizontal dilution of position in m */
+	float s_variance_m_s;               /**< speed accuracy estimate m/s */
+	float p_variance_m;               /**< position accuracy estimate m */
 };
 
 /**
diff --git a/apps/uORB/topics/vehicle_gps_position.h b/apps/uORB/topics/vehicle_gps_position.h
index db529da06..5463a460d 100644
--- a/apps/uORB/topics/vehicle_gps_position.h
+++ b/apps/uORB/topics/vehicle_gps_position.h
@@ -55,35 +55,38 @@
  */
 struct vehicle_gps_position_s
 {
-	uint64_t timestamp;			/**< Timestamp (microseconds since system boot)   */
-	uint32_t counter;			/**< Count of GPS messages */
-	uint64_t time_gps_usec;			/**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module   */
+	uint64_t timestamp_position;		/**< Timestamp for position information */
+	int32_t lat;						/**< Latitude in 1E7 degrees */
+	int32_t lon;						/**< Longitude in 1E7 degrees */
+	int32_t alt;						/**< Altitude in 1E3 meters (millimeters) above MSL  */
 	
-	int32_t lat;				/**< Latitude in 1E7 degrees //LOGME   */
-	int32_t lon;				/**< Longitude in 1E7 degrees //LOGME   */
-	int32_t alt;				/**< Altitude in 1E3 meters (millimeters) above MSL //LOGME   */
-	uint16_t counter_pos_valid;		/**< is only increased when new lat/lon/alt information was added   */
-	uint16_t eph;				/**< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 //LOGME   */
-	uint16_t epv;				/**< GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535   */
-	float s_variance;			/**< speed accuracy estimate cm/s */
-	float p_variance;			/**< position accuracy estimate cm */
-	uint16_t vel;				/**< GPS ground speed (m/s * 100). If unknown, set to: 65535   */
-	float vel_n;				/**< GPS ground speed in m/s */
-	float vel_e;				/**< GPS ground speed in m/s */
-	float vel_d;				/**< GPS ground speed in m/s */
-	uint16_t cog;				/**< Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535   */
-	uint8_t fix_type; 			/**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.   */
-	uint8_t satellites_visible;		/**< Number of satellites visible. If unknown, set to 255   */
+	uint64_t timestamp_variance;
+	float s_variance_m_s;				/**< speed accuracy estimate m/s */
+	float p_variance_m;					/**< position accuracy estimate m */
+	uint8_t fix_type; 					/**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.   */
 
-	uint8_t satellite_prn[20]; 		/**< Global satellite ID   */
-	uint8_t satellite_used[20];		/**< 0: Satellite not used, 1: used for localization   */
-	uint8_t satellite_elevation[20]; 	/**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite   */
-	uint8_t satellite_azimuth[20];		/**< Direction of satellite, 0: 0 deg, 255: 360 deg.   */
-	uint8_t satellite_snr[20];		/**< Signal to noise ratio of satellite   */
-	uint8_t satellite_info_available;	/**< 0 for no info, 1 for info available   */
+	float eph_m;						/**< GPS HDOP horizontal dilution of position in m */
+	float epv_m;						/**< GPS VDOP horizontal dilution of position in m */
 
-	/* flags */
-	float vel_ned_valid;			/**< Flag to indicate if NED speed is valid */
+	uint64_t timestamp_velocity;		/**< Timestamp for velocity informations */
+	float vel_m_s;						/**< GPS ground speed (m/s) */
+	float vel_n_m_s;					/**< GPS ground speed in m/s */
+	float vel_e_m_s;					/**< GPS ground speed in m/s */
+	float vel_d_m_s;					/**< GPS ground speed in m/s */
+	float cog_rad;						/**< Course over ground (NOT heading, but direction of movement) in rad */
+	bool vel_ned_valid;					/**< Flag to indicate if NED speed is valid */
+
+	uint64_t timestamp_time;			/**< Timestamp for time information */
+	uint64_t time_gps_usec;				/**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module   */
+
+	uint64_t timestamp_satellites;		/**< Timestamp for sattelite information */
+	uint8_t satellites_visible;			/**< Number of satellites visible. If unknown, set to 255 */
+	uint8_t satellite_prn[20]; 			/**< Global satellite ID */
+	uint8_t satellite_used[20];			/**< 0: Satellite not used, 1: used for localization */
+	uint8_t satellite_elevation[20]; 	/**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
+	uint8_t satellite_azimuth[20];		/**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
+	uint8_t satellite_snr[20];			/**< Signal to noise ratio of satellite   */
+	bool satellite_info_available;	/**< 0 for no info, 1 for info available */
 };
 
 /**