Merge branch 'master' into batt_fixes

26 files changed, 1551 insertions, 258 deletions

diff --git a/src/drivers/boards/px4fmu-v1/board_config.h b/src/drivers/boards/px4fmu-v1/board_config.h
index 6f7166284..02c26b5c0 100644
--- a/src/drivers/boards/px4fmu-v1/board_config.h
+++ b/src/drivers/boards/px4fmu-v1/board_config.h
@@ -60,6 +60,7 @@ __BEGIN_DECLS
 
 /* PX4IO connection configuration */
 #define PX4IO_SERIAL_DEVICE	"/dev/ttyS2"
+#define UDID_START		0x1FFF7A10
 
 //#ifdef CONFIG_STM32_SPI2
 //#  error "SPI2 is not supported on this board"
diff --git a/src/drivers/boards/px4fmu-v2/board_config.h b/src/drivers/boards/px4fmu-v2/board_config.h
index a19ed9d24..4972e6914 100644
--- a/src/drivers/boards/px4fmu-v2/board_config.h
+++ b/src/drivers/boards/px4fmu-v2/board_config.h
@@ -52,6 +52,8 @@ __BEGIN_DECLS
 /* these headers are not C++ safe */
 #include <stm32.h>
 #include <arch/board/board.h>
+
+#define UDID_START		0x1FFF7A10
  
 /****************************************************************************************************
  * Definitions
diff --git a/src/drivers/boards/px4fmu-v2/px4fmu2_init.c b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c
index 269ec238e..71414d62c 100644
--- a/src/drivers/boards/px4fmu-v2/px4fmu2_init.c
+++ b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c
@@ -282,7 +282,7 @@ __EXPORT int nsh_archinitialize(void)
 	SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
 	up_udelay(20);
 
-	message("[boot] Successfully initialized SPI port 1\n");
+	message("[boot] Initialized SPI port 1 (SENSORS)\n");
 
 	/* Get the SPI port for the FRAM */
 
@@ -294,20 +294,23 @@ __EXPORT int nsh_archinitialize(void)
 		return -ENODEV;
 	}
 
-	/* Default SPI2 to 37.5 MHz (F4 max) and de-assert the known chip selects. */
-	SPI_SETFREQUENCY(spi2, 375000000);
+	/* Default SPI2 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
+	 * and de-assert the known chip selects. */
+
+	// XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated
+	SPI_SETFREQUENCY(spi2, 12 * 1000 * 1000);
 	SPI_SETBITS(spi2, 8);
 	SPI_SETMODE(spi2, SPIDEV_MODE3);
 	SPI_SELECT(spi2, SPIDEV_FLASH, false);
 
-	message("[boot] Successfully initialized SPI port 2\n");
+	message("[boot] Initialized SPI port 2 (RAMTRON FRAM)\n");
 
 	#ifdef CONFIG_MMCSD
 	/* First, get an instance of the SDIO interface */
 
 	sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
 	if (!sdio) {
-		message("nsh_archinitialize: Failed to initialize SDIO slot %d\n",
+		message("[boot] Failed to initialize SDIO slot %d\n",
 			CONFIG_NSH_MMCSDSLOTNO);
 		return -ENODEV;
 	}
@@ -315,7 +318,7 @@ __EXPORT int nsh_archinitialize(void)
 	/* Now bind the SDIO interface to the MMC/SD driver */
 	int ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
 	if (ret != OK) {
-		message("nsh_archinitialize: Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
+		message("[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
 		return ret;
 	}
 
diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp
index fc500a9ec..6b72d560f 100644
--- a/src/drivers/gps/gps.cpp
+++ b/src/drivers/gps/gps.cpp
@@ -85,7 +85,7 @@ static const int ERROR = -1;
 class GPS : public device::CDev
 {
 public:
-	GPS(const char *uart_path);
+	GPS(const char *uart_path, bool fake_gps);
 	virtual ~GPS();
 
 	virtual int			init();
@@ -112,6 +112,7 @@ private:
 	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
+	bool				_fake_gps;					///< fake gps output
 
 
 	/**
@@ -156,7 +157,7 @@ GPS	*g_dev;
 }
 
 
-GPS::GPS(const char *uart_path) :
+GPS::GPS(const char *uart_path, bool fake_gps) :
 	CDev("gps", GPS_DEVICE_PATH),
 	_task_should_exit(false),
 	_healthy(false),
@@ -164,7 +165,8 @@ GPS::GPS(const char *uart_path) :
 	_mode(GPS_DRIVER_MODE_UBX),
 	_Helper(nullptr),
 	_report_pub(-1),
-	_rate(0.0f)
+	_rate(0.0f),
+	_fake_gps(fake_gps)
 {
 	/* store port name */
 	strncpy(_port, uart_path, sizeof(_port));
@@ -264,98 +266,133 @@ GPS::task_main()
 	/* 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;
-		}
+		if (_fake_gps) {
+
+			_report.timestamp_position = hrt_absolute_time();
+			_report.lat = (int32_t)47.378301e7f;
+			_report.lon = (int32_t)8.538777e7f;
+			_report.alt = (int32_t)400e3f;
+			_report.timestamp_variance = hrt_absolute_time();
+			_report.s_variance_m_s = 10.0f;
+			_report.p_variance_m = 10.0f;
+			_report.c_variance_rad = 0.1f;
+			_report.fix_type = 3;
+			_report.eph_m = 10.0f;
+			_report.epv_m = 10.0f;
+			_report.timestamp_velocity = hrt_absolute_time();
+			_report.vel_n_m_s = 0.0f;
+			_report.vel_e_m_s = 0.0f;
+			_report.vel_d_m_s = 0.0f;
+			_report.vel_m_s = sqrtf(_report.vel_n_m_s * _report.vel_n_m_s + _report.vel_e_m_s * _report.vel_e_m_s + _report.vel_d_m_s * _report.vel_d_m_s);
+			_report.cog_rad = 0.0f;
+			_report.vel_ned_valid = true;
+
+			//no time and satellite information simulated
+
+			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);
+			}
 
-		switch (_mode) {
-		case GPS_DRIVER_MODE_UBX:
-			_Helper = new UBX(_serial_fd, &_report);
-			break;
+			usleep(2e5);
 
-		case GPS_DRIVER_MODE_MTK:
-			_Helper = new MTK(_serial_fd, &_report);
-			break;
+		} else {
 
-		default:
-			break;
-		}
+			if (_Helper != nullptr) {
+				delete(_Helper);
+				/* set to zero to ensure parser is not used while not instantiated */
+				_Helper = nullptr;
+			}
 
-		unlock();
+			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;
+
+			default:
+				break;
+			}
 
-		if (_Helper->configure(_baudrate) == 0) {
 			unlock();
 
-			// GPS is obviously detected successfully, reset statistics
-			_Helper->reset_update_rates();
+			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);
+				// GPS is obviously detected successfully, reset statistics
+				_Helper->reset_update_rates();
 
-				} else {
-					_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
-				}
+				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++;
+					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;
-					_Helper->store_update_rates();
-					_Helper->reset_update_rates();
-				}
+					/* 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;
+						_Helper->store_update_rates();
+						_Helper->reset_update_rates();
+					}
 
-				if (!_healthy) {
-					char *mode_str = "unknown";
+					if (!_healthy) {
+						char *mode_str = "unknown";
 
-					switch (_mode) {
-					case GPS_DRIVER_MODE_UBX:
-						mode_str = "UBX";
-						break;
+						switch (_mode) {
+						case GPS_DRIVER_MODE_UBX:
+							mode_str = "UBX";
+							break;
 
-					case GPS_DRIVER_MODE_MTK:
-						mode_str = "MTK";
-						break;
+						case GPS_DRIVER_MODE_MTK:
+							mode_str = "MTK";
+							break;
 
-					default:
-						break;
+						default:
+							break;
+						}
+
+						warnx("module found: %s", mode_str);
+						_healthy = true;
 					}
+				}
 
-					warnx("module found: %s", mode_str);
-					_healthy = true;
+				if (_healthy) {
+					warnx("module lost");
+					_healthy = false;
+					_rate = 0.0f;
 				}
-			}
 
-			if (_healthy) {
-				warnx("module lost");
-				_healthy = false;
-				_rate = 0.0f;
+				lock();
 			}
 
 			lock();
-		}
-
-		lock();
 
-		/* select next mode */
-		switch (_mode) {
-		case GPS_DRIVER_MODE_UBX:
-			_mode = GPS_DRIVER_MODE_MTK;
-			break;
+			/* 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_MTK:
+				_mode = GPS_DRIVER_MODE_UBX;
+				break;
 
-		default:
-			break;
+			default:
+				break;
+			}
 		}
 
 	}
@@ -417,7 +454,7 @@ namespace gps
 
 GPS	*g_dev;
 
-void	start(const char *uart_path);
+void	start(const char *uart_path, bool fake_gps);
 void	stop();
 void	test();
 void	reset();
@@ -427,7 +464,7 @@ void	info();
  * Start the driver.
  */
 void
-start(const char *uart_path)
+start(const char *uart_path, bool fake_gps)
 {
 	int fd;
 
@@ -435,7 +472,7 @@ start(const char *uart_path)
 		errx(1, "already started");
 
 	/* create the driver */
-	g_dev = new GPS(uart_path);
+	g_dev = new GPS(uart_path, fake_gps);
 
 	if (g_dev == nullptr)
 		goto fail;
@@ -527,6 +564,7 @@ gps_main(int argc, char *argv[])
 
 	/* set to default */
 	char *device_name = GPS_DEFAULT_UART_PORT;
+	bool fake_gps = false;
 
 	/*
 	 * Start/load the driver.
@@ -542,7 +580,13 @@ gps_main(int argc, char *argv[])
 			}
 		}
 
-		gps::start(device_name);
+		/* Detect fake gps option */
+		for (int i = 2; i < argc; i++) {
+			if (!strcmp(argv[i], "-f"))
+				fake_gps = true;
+		}
+
+		gps::start(device_name, fake_gps);
 	}
 
 	if (!strcmp(argv[1], "stop"))
@@ -567,5 +611,5 @@ gps_main(int argc, char *argv[])
 		gps::info();
 
 out:
-	errx(1, "unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status' [-d /dev/ttyS0-n]");
+	errx(1, "unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status' [-d /dev/ttyS0-n][-f]");
 }
diff --git a/src/drivers/hil/hil.cpp b/src/drivers/hil/hil.cpp
index c1d73dd87..0a047f38f 100644
--- a/src/drivers/hil/hil.cpp
+++ b/src/drivers/hil/hil.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -193,9 +193,10 @@ HIL::~HIL()
 		} while (_task != -1);
 	}
 
-	/* clean up the alternate device node */
-	if (_primary_pwm_device)
-		unregister_driver(PWM_OUTPUT_DEVICE_PATH);
+	// XXX already claimed with CDEV
+	// /* clean up the alternate device node */
+	// if (_primary_pwm_device)
+	// 	unregister_driver(PWM_OUTPUT_DEVICE_PATH);
 
 	g_hil = nullptr;
 }
diff --git a/src/drivers/hott/hott_sensors/hott_sensors.cpp b/src/drivers/hott/hott_sensors/hott_sensors.cpp
index e322c6349..a3d3a3933 100644
--- a/src/drivers/hott/hott_sensors/hott_sensors.cpp
+++ b/src/drivers/hott/hott_sensors/hott_sensors.cpp
@@ -211,7 +211,7 @@ hott_sensors_main(int argc, char *argv[])
 		thread_should_exit = false;
 		deamon_task = task_spawn_cmd(daemon_name,
 					     SCHED_DEFAULT,
-					     SCHED_PRIORITY_MAX - 40,
+					     SCHED_PRIORITY_DEFAULT,
 					     1024,
 					     hott_sensors_thread_main,
 					     (argv) ? (const char **)&argv[2] : (const char **)NULL);
diff --git a/src/drivers/hott/hott_telemetry/hott_telemetry.cpp b/src/drivers/hott/hott_telemetry/hott_telemetry.cpp
index 042d9f816..d293f9954 100644
--- a/src/drivers/hott/hott_telemetry/hott_telemetry.cpp
+++ b/src/drivers/hott/hott_telemetry/hott_telemetry.cpp
@@ -237,7 +237,7 @@ hott_telemetry_main(int argc, char *argv[])
 		thread_should_exit = false;
 		deamon_task = task_spawn_cmd(daemon_name,
 					 SCHED_DEFAULT,
-					 SCHED_PRIORITY_MAX - 40,
+					 SCHED_PRIORITY_DEFAULT,
 					 2048,
 					 hott_telemetry_thread_main,
 					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index b878d29bc..b28d318d7 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -65,6 +65,7 @@
 #include <systemlib/err.h>
 #include <systemlib/mixer/mixer.h>
 #include <systemlib/pwm_limit/pwm_limit.h>
+#include <systemlib/board_serial.h>
 #include <drivers/drv_mixer.h>
 #include <drivers/drv_rc_input.h>
 
@@ -224,10 +225,10 @@ PX4FMU::PX4FMU() :
 	_armed(false),
 	_pwm_on(false),
 	_mixers(nullptr),
-	_failsafe_pwm( {0}),
-	       _disarmed_pwm( {0}),
-	       _num_failsafe_set(0),
-	       _num_disarmed_set(0)
+	_failsafe_pwm({0}),
+	      _disarmed_pwm({0}),
+	      _num_failsafe_set(0),
+	      _num_disarmed_set(0)
 {
 	for (unsigned i = 0; i < _max_actuators; i++) {
 		_min_pwm[i] = PWM_DEFAULT_MIN;
@@ -575,7 +576,7 @@ PX4FMU::task_main()
 						if (i >= outputs.noutputs ||
 						    !isfinite(outputs.output[i]) ||
 						    outputs.output[i] < -1.0f ||
-						outputs.output[i] > 1.0f) {
+						    outputs.output[i] > 1.0f) {
 							/*
 							 * Value is NaN, INF or out of band - set to the minimum value.
 							 * This will be clearly visible on the servo status and will limit the risk of accidentally
@@ -933,7 +934,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 			break;
 		}
 
-		/* FALLTHROUGH */
+	/* FALLTHROUGH */
 	case PWM_SERVO_SET(3):
 	case PWM_SERVO_SET(2):
 		if (_mode < MODE_4PWM) {
@@ -941,7 +942,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 			break;
 		}
 
-		/* FALLTHROUGH */
+	/* FALLTHROUGH */
 	case PWM_SERVO_SET(1):
 	case PWM_SERVO_SET(0):
 		if (arg <= 2100) {
@@ -960,7 +961,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 			break;
 		}
 
-		/* FALLTHROUGH */
+	/* FALLTHROUGH */
 	case PWM_SERVO_GET(3):
 	case PWM_SERVO_GET(2):
 		if (_mode < MODE_4PWM) {
@@ -968,7 +969,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 			break;
 		}
 
-		/* FALLTHROUGH */
+	/* FALLTHROUGH */
 	case PWM_SERVO_GET(1):
 	case PWM_SERVO_GET(0):
 		*(servo_position_t *)arg = up_pwm_servo_get(cmd - PWM_SERVO_GET(0));
@@ -1591,6 +1592,15 @@ fmu_main(int argc, char *argv[])
 		errx(0, "FMU driver stopped");
 	}
 
+	if (!strcmp(verb, "id")) {
+		char id[12];
+		(void)get_board_serial(id);
+
+		errx(0, "Board serial:\n %02X%02X%02X%02X %02X%02X%02X%02X %02X%02X%02X%02X",
+		     (unsigned)id[0], (unsigned)id[1], (unsigned)id[2], (unsigned)id[3], (unsigned)id[4], (unsigned)id[5],
+		     (unsigned)id[6], (unsigned)id[7], (unsigned)id[8], (unsigned)id[9], (unsigned)id[10], (unsigned)id[11]);
+	}
+
 
 	if (fmu_start() != OK)
 		errx(1, "failed to start the FMU driver");
@@ -1647,6 +1657,7 @@ fmu_main(int argc, char *argv[])
 			sensor_reset(0);
 			warnx("resettet default time");
 		}
+
 		exit(0);
 	}
 
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index cbdd5acc4..0ca35d2f2 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,7 +35,7 @@
  * @file px4io.cpp
  * Driver for the PX4IO board.
  *
- * PX4IO is connected via I2C.
+ * PX4IO is connected via I2C or DMA enabled high-speed UART.
  */
 
 #include <nuttx/config.h>
@@ -1690,6 +1690,9 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
 
 		int ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, (sizeof(px4io_mixdata) + 2) / 2);
 
+		if (ret)
+			return ret;
+
 		retries--;
 
 		log("mixer sent");
@@ -2420,6 +2423,69 @@ detect(int argc, char *argv[])
 }
 
 void
+checkcrc(int argc, char *argv[])
+{
+	bool keep_running = false;
+
+	if (g_dev == nullptr) {
+		/* allocate the interface */
+		device::Device *interface = get_interface();
+
+		/* create the driver - it will set g_dev */
+		(void)new PX4IO(interface);
+
+		if (g_dev == nullptr)
+			errx(1, "driver alloc failed");
+	} else {
+		/* its already running, don't kill the driver */
+		keep_running = true;
+	}
+
+	/*
+	  check IO CRC against CRC of a file
+	 */
+	if (argc < 2) {
+		printf("usage: px4io checkcrc filename\n");
+		exit(1);
+	}
+	int fd = open(argv[1], O_RDONLY);
+	if (fd == -1) {
+		printf("open of %s failed - %d\n", argv[1], errno);
+		exit(1);			
+	}
+	const uint32_t app_size_max = 0xf000;
+	uint32_t fw_crc = 0;
+	uint32_t nbytes = 0;
+	while (true) {
+		uint8_t buf[16];
+		int n = read(fd, buf, sizeof(buf));
+		if (n <= 0) break;
+		fw_crc = crc32part(buf, n, fw_crc);
+		nbytes += n;
+	}
+	close(fd);
+	while (nbytes < app_size_max) {
+		uint8_t b = 0xff;
+		fw_crc = crc32part(&b, 1, fw_crc);			
+		nbytes++;
+	}
+
+	int ret = g_dev->ioctl(nullptr, PX4IO_CHECK_CRC, fw_crc);
+
+	if (!keep_running) {
+		delete g_dev;
+		g_dev = nullptr;
+	}
+
+	if (ret != OK) {
+		printf("check CRC failed - %d\n", ret);
+		exit(1);			
+	}
+	printf("CRCs match\n");
+	exit(0);
+}
+
+void
 bind(int argc, char *argv[])
 {
 	int pulses;
@@ -2613,6 +2679,9 @@ px4io_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "detect"))
 		detect(argc - 1, argv + 1);
 
+	if (!strcmp(argv[1], "checkcrc"))
+		checkcrc(argc - 1, argv + 1);
+
 	if (!strcmp(argv[1], "update")) {
 
 		if (g_dev != nullptr) {
@@ -2798,49 +2867,6 @@ px4io_main(int argc, char *argv[])
 		exit(0);
 	}
 
-	if (!strcmp(argv[1], "checkcrc")) {
-		/*
-		  check IO CRC against CRC of a file
-		 */
-		if (argc <= 2) {
-			printf("usage: px4io checkcrc filename\n");
-			exit(1);
-		}
-		if (g_dev == nullptr) {
-			printf("px4io is not started\n");
-			exit(1);
-		}
-		int fd = open(argv[2], O_RDONLY);
-		if (fd == -1) {
-			printf("open of %s failed - %d\n", argv[2], errno);
-			exit(1);			
-		}
-		const uint32_t app_size_max = 0xf000;
-		uint32_t fw_crc = 0;
-		uint32_t nbytes = 0;
-		while (true) {
-			uint8_t buf[16];
-			int n = read(fd, buf, sizeof(buf));
-			if (n <= 0) break;
-			fw_crc = crc32part(buf, n, fw_crc);
-			nbytes += n;
-		}
-		close(fd);
-		while (nbytes < app_size_max) {
-			uint8_t b = 0xff;
-			fw_crc = crc32part(&b, 1, fw_crc);			
-			nbytes++;
-		}
-
-		int ret = g_dev->ioctl(nullptr, PX4IO_CHECK_CRC, fw_crc);
-		if (ret != OK) {
-			printf("check CRC failed - %d\n", ret);
-			exit(1);			
-		}
-		printf("CRCs match\n");
-		exit(0);
-	}
-
 	if (!strcmp(argv[1], "rx_dsm") ||
 	    !strcmp(argv[1], "rx_dsm_10bit") ||
 	    !strcmp(argv[1], "rx_dsm_11bit") ||
diff --git a/src/drivers/rgbled/rgbled.cpp b/src/drivers/rgbled/rgbled.cpp
index 727c86e02..4f58891ed 100644
--- a/src/drivers/rgbled/rgbled.cpp
+++ b/src/drivers/rgbled/rgbled.cpp
@@ -559,7 +559,7 @@ RGBLED::get(bool &on, bool &powersave, uint8_t &r, uint8_t &g, uint8_t &b)
 void
 rgbled_usage()
 {
-	warnx("missing command: try 'start', 'test', 'info', 'off', 'rgb 30 40 50'");
+	warnx("missing command: try 'start', 'test', 'info', 'off', 'stop', 'rgb 30 40 50'");
 	warnx("options:");
 	warnx("    -b i2cbus (%d)", PX4_I2C_BUS_LED);
 	warnx("    -a addr (0x%x)", ADDR);
@@ -643,7 +643,7 @@ rgbled_main(int argc, char *argv[])
 	if (g_rgbled == nullptr) {
 		warnx("not started");
 		rgbled_usage();
-		exit(0);
+		exit(1);
 	}
 
 	if (!strcmp(verb, "test")) {
@@ -669,7 +669,7 @@ rgbled_main(int argc, char *argv[])
 		exit(0);
 	}
 
-	if (!strcmp(verb, "off")) {
+	if (!strcmp(verb, "off") || !strcmp(verb, "stop")) {
 		fd = open(RGBLED_DEVICE_PATH, 0);
 
 		if (fd == -1) {
@@ -681,6 +681,12 @@ rgbled_main(int argc, char *argv[])
 		exit(ret);
 	}
 
+	if (!strcmp(verb, "stop")) {
+		delete g_rgbled;
+		g_rgbled = nullptr;
+		exit(0);
+	}
+
 	if (!strcmp(verb, "rgb")) {
 		if (argc < 5) {
 			errx(1, "Usage: rgbled rgb <red> <green> <blue>");
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
index 3bb872405..31a9cdefa 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -49,21 +48,75 @@
  *
  */
 
+/**
+ * L1 period
+ *
+ * This is the L1 distance and defines the tracking
+ * point ahead of the aircraft its following.
+ * A value of 25 meters works for most aircraft. Shorten
+ * slowly during tuning until response is sharp without oscillation.
+ *
+ * @min 1.0
+ * @max 100.0
+ * @group L1 Control
+ */
 PARAM_DEFINE_FLOAT(FW_L1_PERIOD, 25.0f);
 
-
+/**
+ * L1 damping
+ *
+ * Damping factor for L1 control.
+ *
+ * @min 0.6
+ * @max 0.9
+ * @group L1 Control
+ */
 PARAM_DEFINE_FLOAT(FW_L1_DAMPING, 0.75f);
 
-
+/**
+ * Default Loiter Radius
+ *
+ * This radius is used when no other loiter radius is set.
+ *
+ * @min 10.0
+ * @max 100.0
+ * @group L1 Control
+ */
 PARAM_DEFINE_FLOAT(FW_LOITER_R, 50.0f);
 
-
+/**
+ * Cruise throttle
+ *
+ * This is the throttle setting required to achieve the desired cruise speed. Most airframes have a value of 0.5-0.7.
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group L1 Control
+ */
 PARAM_DEFINE_FLOAT(FW_THR_CRUISE, 0.7f);
 
-
+/**
+ * Negative pitch limit
+ *
+ * The minimum negative pitch the controller will output.
+ *
+ * @unit degrees
+ * @min -60.0
+ * @max 0.0
+ * @group L1 Control
+ */
 PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -45.0f);
 
-
+/**
+ * Positive pitch limit
+ *
+ * The maximum positive pitch the controller will output.
+ *
+ * @unit degrees
+ * @min 0.0
+ * @max 60.0
+ * @group L1 Control
+ */
 PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 45.0f);
 
 
diff --git a/src/modules/sensors/module.mk b/src/modules/sensors/module.mk
index ebbc580e1..aa538fd6b 100644
--- a/src/modules/sensors/module.mk
+++ b/src/modules/sensors/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index 241c5b99b..3b3e56c88 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -1,9 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
- *           @author Thomas Gubler <thomasgubler@student.ethz.ch>
- *           @author Julian Oes <joes@student.ethz.ch>
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -38,6 +35,10 @@
  * @file sensor_params.c
  *
  * Parameters defined by the sensors task.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Julian Oes <joes@student.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
  */
 
 #include <nuttx/config.h>
@@ -45,41 +46,98 @@
 #include <systemlib/param/param.h>
 
 /**
- * Gyro X offset FIXME
+ * Gyro X offset
  *
- * This is an X-axis offset for the gyro.
- * Adjust it according to the calibration data.
+ * This is an X-axis offset for the gyro. Adjust it according to the calibration data.
  *
  * @min -10.0
  * @max 10.0
- * @group Gyro Config
+ * @group Sensor Calibration
  */
 PARAM_DEFINE_FLOAT(SENS_GYRO_XOFF, 0.0f);
 
 /**
- * Gyro Y offset FIXME with dot.
+ * Gyro Y offset
  *
  * @min -10.0
  * @max 10.0
- * @group Gyro Config
+ * @group Sensor Calibration
  */
 PARAM_DEFINE_FLOAT(SENS_GYRO_YOFF, 0.0f);
 
 /**
- * Gyro Z offset FIXME
+ * Gyro Z offset
  *
  * @min -5.0
  * @max 5.0
- * @group Gyro Config
+ * @group Sensor Calibration
  */
 PARAM_DEFINE_FLOAT(SENS_GYRO_ZOFF, 0.0f);
 
+/**
+ * Gyro X scaling
+ *
+ * X-axis scaling.
+ *
+ * @min -1.5
+ * @max 1.5
+ * @group Sensor Calibration
+ */
 PARAM_DEFINE_FLOAT(SENS_GYRO_XSCALE, 1.0f);
+
+/**
+ * Gyro Y scaling
+ *
+ * Y-axis scaling.
+ *
+ * @min -1.5
+ * @max 1.5
+ * @group Sensor Calibration
+ */
 PARAM_DEFINE_FLOAT(SENS_GYRO_YSCALE, 1.0f);
+
+/**
+ * Gyro Z scaling
+ *
+ * Z-axis scaling.
+ *
+ * @min -1.5
+ * @max 1.5
+ * @group Sensor Calibration
+ */
 PARAM_DEFINE_FLOAT(SENS_GYRO_ZSCALE, 1.0f);
 
+/**
+ * Magnetometer X offset
+ *
+ * This is an X-axis offset for the magnetometer.
+ *
+ * @min -500.0
+ * @max 500.0
+ * @group Sensor Calibration
+ */
 PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f);
+
+/**
+ * Magnetometer Y offset
+ *
+ * This is an Y-axis offset for the magnetometer.
+ *
+ * @min -500.0
+ * @max 500.0
+ * @group Sensor Calibration
+ */
 PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f);
+
+/**
+ * Magnetometer Z offset
+ *
+ * This is an Z-axis offset for the magnetometer.
+ *
+ * @min -500.0
+ * @max 500.0
+ * @group Sensor Calibration
+ */
 PARAM_DEFINE_FLOAT(SENS_MAG_ZOFF, 0.0f);
 
 PARAM_DEFINE_FLOAT(SENS_MAG_XSCALE, 1.0f);
@@ -100,16 +158,114 @@ PARAM_DEFINE_INT32(SENS_DPRES_ANA, 0);
 PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0);
 PARAM_DEFINE_INT32(SENS_EXT_MAG_ROT, 0);
 
+/**
+ * RC Channel 1 Minimum
+ *
+ * Minimum value for RC channel 1
+ *
+ * @min 800.0
+ * @max 1500.0
+ * @group Radio Calibration
+ */
 PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f);
+
+/**
+ * RC Channel 1 Trim
+ *
+ * Mid point value (same as min for throttle)
+ *
+ * @min 800.0
+ * @max 2200.0
+ * @group Radio Calibration
+ */
 PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f);
+
+/**
+ * RC Channel 1 Maximum
+ *
+ * Maximum value for RC channel 1
+ *
+ * @min 1500.0
+ * @max 2200.0
+ * @group Radio Calibration
+ */
 PARAM_DEFINE_FLOAT(RC1_MAX, 2000.0f);
+
+/**
+ * RC Channel 1 Reverse
+ *
+ * Set to -1 to reverse channel.
+ *
+ * @min -1.0
+ * @max 1.0
+ * @group Radio Calibration
+ */
 PARAM_DEFINE_FLOAT(RC1_REV, 1.0f);
+
+/**
+ * RC Channel 1 dead zone
+ *
+ * The +- range of this value around the trim value will be considered as zero.
+ *
+ * @min 0.0
+ * @max 100.0
+ * @group Radio Calibration
+ */
 PARAM_DEFINE_FLOAT(RC1_DZ, 10.0f);
 
-PARAM_DEFINE_FLOAT(RC2_MIN, 1000);
-PARAM_DEFINE_FLOAT(RC2_TRIM, 1500);
-PARAM_DEFINE_FLOAT(RC2_MAX, 2000);
+/**
+ * RC Channel 2 Minimum
+ *
+ * Minimum value for RC channel 2
+ *
+ * @min 800.0
+ * @max 1500.0
+ * @group Radio Calibration
+ */
+PARAM_DEFINE_FLOAT(RC2_MIN, 1000.0f);
+
+/**
+ * RC Channel 2 Trim
+ *
+ * Mid point value (same as min for throttle)
+ *
+ * @min 800.0
+ * @max 2200.0
+ * @group Radio Calibration
+ */
+PARAM_DEFINE_FLOAT(RC2_TRIM, 1500.0f);
+
+/**
+ * RC Channel 2 Maximum
+ *
+ * Maximum value for RC channel 2
+ *
+ * @min 1500.0
+ * @max 2200.0
+ * @group Radio Calibration
+ */
+PARAM_DEFINE_FLOAT(RC2_MAX, 2000.0f);
+
+/**
+ * RC Channel 2 Reverse
+ *
+ * Set to -1 to reverse channel.
+ *
+ * @min -1.0
+ * @max 1.0
+ * @group Radio Calibration
+ */
 PARAM_DEFINE_FLOAT(RC2_REV, 1.0f);
+
+/**
+ * RC Channel 2 dead zone
+ *
+ * The +- range of this value around the trim value will be considered as zero.
+ *
+ * @min 0.0
+ * @max 100.0
+ * @group Radio Calibration
+ */
 PARAM_DEFINE_FLOAT(RC2_DZ, 10.0f);
 
 PARAM_DEFINE_FLOAT(RC3_MIN, 1000);
diff --git a/src/modules/systemlib/board_serial.c b/src/modules/systemlib/board_serial.c
new file mode 100644
index 000000000..ad8c2bf83
--- /dev/null
+++ b/src/modules/systemlib/board_serial.c
@@ -0,0 +1,60 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_serial.h
+ * Read off the board serial
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author David "Buzz" Bussenschutt <davidbuzz@gmail.com>
+ *
+ */
+
+#include "otp.h"
+#include "board_config.h"
+#include "board_serial.h"
+
+int get_board_serial(char *serialid)
+{
+	const volatile unsigned *udid_ptr = (const unsigned *)UDID_START;
+	union udid id;
+	val_read((unsigned *)&id, udid_ptr, sizeof(id));
+
+
+	/* Copy the serial from the chips non-write memory and swap endianess */
+	serialid[0] = id.data[3];   serialid[1] = id.data[2];  serialid[2] = id.data[1];  serialid[3] = id.data[0];
+	serialid[4] = id.data[7];   serialid[5] = id.data[6];  serialid[6] = id.data[5];  serialid[7] = id.data[4];
+	serialid[8] = id.data[11];   serialid[9] = id.data[10];  serialid[10] = id.data[9];  serialid[11] = id.data[8];
+
+	return 0;
+}
\ No newline at end of file
diff --git a/src/modules/systemlib/board_serial.h b/src/modules/systemlib/board_serial.h
new file mode 100644
index 000000000..b14bb4376
--- /dev/null
+++ b/src/modules/systemlib/board_serial.h
@@ -0,0 +1,49 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_serial.h
+ * Read off the board serial
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author David "Buzz" Bussenschutt <davidbuzz@gmail.com>
+ *
+ */
+
+#pragma once
+
+__BEGIN_DECLS
+
+__EXPORT int get_board_serial(char *serialid);
+
+__END_DECLS
diff --git a/src/modules/systemlib/module.mk b/src/modules/systemlib/module.mk
index 843cda722..8c6c300d6 100644
--- a/src/modules/systemlib/module.mk
+++ b/src/modules/systemlib/module.mk
@@ -49,4 +49,7 @@ SRCS		 = err.c \
 		   airspeed.c \
 		   system_params.c \
 		   mavlink_log.c \
-		   rc_check.c
+		   rc_check.c \
+		   otp.c \
+		   board_serial.c
+
diff --git a/src/modules/systemlib/otp.c b/src/modules/systemlib/otp.c
new file mode 100644
index 000000000..695574fdc
--- /dev/null
+++ b/src/modules/systemlib/otp.c
@@ -0,0 +1,224 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+ *   Authors:
+ *      Lorenz Meier <lm@inf.ethz.ch>
+ *      David "Buzz" Bussenschutt <davidbuzz@gmail.com>
+ *
+ * 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 otp.c
+ * otp estimation
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author David "Buzz" Bussenschutt <davidbuzz@gmail.com>
+ *
+ */
+
+#include <nuttx/config.h>
+#include <board_config.h>
+#include <stdio.h>
+#include <math.h>
+#include <unistd.h>
+#include <string.h>  // memset
+#include "conversions.h"
+#include "otp.h"
+#include "err.h"   // warnx 
+#include <assert.h>
+
+
+int val_read(void *dest, volatile const void *src, int bytes)
+{
+
+	int i;
+
+	for (i = 0; i < bytes / 4; i++) {
+		*(((volatile unsigned *)dest) + i) = *(((volatile unsigned *)src) + i);
+	}
+
+	return i * 4;
+}
+
+
+int write_otp(uint8_t id_type, uint32_t vid, uint32_t pid, char *signature)
+{
+
+	warnx("write_otp: PX4 / %02X / %02X / %02X  / ... etc  \n", id_type, vid, pid);
+
+	int errors = 0;
+
+	// descriptor
+	if (F_write_byte(ADDR_OTP_START, 'P'))
+		errors++;
+	  //  write the 'P' from PX4. to first byte in OTP
+	if (F_write_byte(ADDR_OTP_START + 1, 'X'))
+		errors++; //  write the 'P' from PX4. to first byte in OTP
+	if (F_write_byte(ADDR_OTP_START + 2, '4'))
+		errors++;
+	if (F_write_byte(ADDR_OTP_START + 3, '\0'))
+		errors++;
+	//id_type
+	if (F_write_byte(ADDR_OTP_START + 4, id_type))
+		errors++;
+	// vid and pid are 4 bytes each
+	if (F_write_word(ADDR_OTP_START + 5, vid))
+		errors++;
+	if (F_write_word(ADDR_OTP_START + 9, pid))
+		errors++;
+
+	// leave some 19 bytes of space, and go to the next block...
+	// then the auth sig starts
+	for (int i = 0 ; i < 128 ; i++) {
+		if (F_write_byte(ADDR_OTP_START + 32 + i, signature[i]))
+			errors++;
+	}
+
+	return errors;
+}
+
+int lock_otp(void)
+{
+	//determine the required locking size - can only write full lock bytes */
+//	int size = sizeof(struct otp) / 32;
+//
+//	struct otp_lock otp_lock_mem;
+//
+//	memset(&otp_lock_mem, OTP_LOCK_UNLOCKED, sizeof(otp_lock_mem));
+//	for (int i = 0; i < sizeof(otp_lock_mem) / sizeof(otp_lock_mem.lock_bytes[0]); i++)
+//		otp_lock_mem.lock_bytes[i] = OTP_LOCK_LOCKED;
+	//XXX add the actual call here to write the OTP_LOCK bytes only at final stage
+	// val_copy(lock_ptr, &otp_lock_mem, sizeof(otp_lock_mem));
+
+	int locksize = 5;
+
+	int errors = 0;
+
+	// or just realise it's exctly 5x 32byte blocks we need to lock.  1 block for ID,type,vid,pid, and 4 blocks for certificate, which is 128 bytes.
+	for (int i = 0 ; i < locksize ; i++) {
+		if (F_write_byte(ADDR_OTP_LOCK_START + i, OTP_LOCK_LOCKED))
+			errors++;
+	}
+
+	return errors;
+}
+
+
+
+// COMPLETE, BUSY, or other flash error?
+int F_GetStatus(void)
+{
+	int fs = F_COMPLETE;
+
+	if ((FLASH->status & F_BSY) == F_BSY) { fs = F_BUSY; } else {
+
+		if ((FLASH->status & F_WRPERR) != (uint32_t)0x00) { fs = F_ERROR_WRP; } else {
+
+			if ((FLASH->status & (uint32_t)0xEF) != (uint32_t)0x00) { fs = F_ERROR_PROGRAM; } else {
+
+				if ((FLASH->status & F_OPERR) != (uint32_t)0x00) { fs = F_ERROR_OPERATION; } else {
+					fs = F_COMPLETE;
+				}
+			}
+		}
+	}
+
+	return fs;
+}
+
+
+// enable FLASH Registers
+void F_unlock(void)
+{
+	if ((FLASH->control & F_CR_LOCK) != 0) {
+		FLASH->key = F_KEY1;
+		FLASH->key = F_KEY2;
+	}
+}
+
+//  lock the FLASH Registers
+void F_lock(void)
+{
+	FLASH->control |= F_CR_LOCK;
+}
+
+// flash write word.
+int F_write_word(uint32_t Address, uint32_t Data)
+{
+	unsigned char octet[4] = {0, 0, 0, 0};
+
+	int ret = 0;
+
+	for (int i = 0; i < 4; i++) {
+		octet[i] = (Data >> (i * 8)) & 0xFF;
+		ret = F_write_byte(Address + i, octet[i]);
+	}
+
+	return ret;
+}
+
+// flash write byte
+int F_write_byte(uint32_t Address, uint8_t Data)
+{
+	volatile int status = F_COMPLETE;
+
+	//warnx("F_write_byte: %08X %02d", Address , Data ) ;
+
+	//Check the parameters
+	assert(IS_F_ADDRESS(Address));
+
+	//Wait for FLASH operation to complete by polling on BUSY flag.
+	status = F_GetStatus();
+
+	while (status == F_BUSY) { status = F_GetStatus();}
+
+	if (status == F_COMPLETE) {
+		//if the previous operation is completed, proceed to program the new data
+		FLASH->control &= CR_PSIZE_MASK;
+		FLASH->control |= F_PSIZE_BYTE;
+		FLASH->control |= F_CR_PG;
+
+		*(volatile uint8_t *)Address = Data;
+
+		//Wait for FLASH operation to complete by polling on BUSY flag.
+		status = F_GetStatus();
+
+		while (status == F_BUSY) { status = F_GetStatus();}
+
+		//if the program operation is completed, disable the PG Bit
+		FLASH->control &= (~F_CR_PG);
+	}
+
+	//Return the Program Status
+	return !(status == F_COMPLETE);
+}
+
+
+
diff --git a/src/modules/systemlib/otp.h b/src/modules/systemlib/otp.h
new file mode 100644
index 000000000..f10e129d8
--- /dev/null
+++ b/src/modules/systemlib/otp.h
@@ -0,0 +1,151 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file otp.h
+ * One TIme Programmable ( OTP ) Flash routine/s.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author David "Buzz" Bussenschutt <davidbuzz@gmail.com>
+ *
+ */
+
+#ifndef OTP_H_
+#define OTP_H_
+
+__BEGIN_DECLS
+
+#define ADDR_OTP_START			0x1FFF7800
+#define ADDR_OTP_LOCK_START		0x1FFF7A00
+
+#define OTP_LOCK_LOCKED			0x00
+#define OTP_LOCK_UNLOCKED		0xFF
+
+
+
+#include <unistd.h>
+#include <stdio.h>
+
+// possible flash statuses
+#define F_BUSY 1
+#define F_ERROR_WRP 2
+#define F_ERROR_PROGRAM 3
+#define F_ERROR_OPERATION 4
+#define F_COMPLETE 5
+
+typedef struct {
+	volatile uint32_t accesscontrol;      // 0x00
+	volatile uint32_t key;     //  0x04
+	volatile uint32_t optionkey;  //  0x08
+	volatile uint32_t status;       // 0x0C
+	volatile uint32_t control;       // 0x10
+	volatile uint32_t optioncontrol;    //0x14
+} flash_registers;
+
+#define PERIPH_BASE           ((uint32_t)0x40000000) //Peripheral base address
+#define AHB1PERIPH_BASE       (PERIPH_BASE + 0x00020000)
+#define F_R_BASE          (AHB1PERIPH_BASE + 0x3C00)
+#define FLASH               ((flash_registers *) F_R_BASE)
+
+#define F_BSY ((uint32_t)0x00010000) //FLASH Busy flag bit
+#define F_OPERR ((uint32_t)0x00000002) //FLASH operation Error flag bit
+#define F_WRPERR ((uint32_t)0x00000010) //FLASH Write protected error flag bit
+#define CR_PSIZE_MASK ((uint32_t)0xFFFFFCFF)
+#define F_PSIZE_WORD ((uint32_t)0x00000200)
+#define F_PSIZE_BYTE ((uint32_t)0x00000000)
+#define F_CR_PG ((uint32_t)0x00000001) // a bit in the F_CR register
+#define F_CR_LOCK ((uint32_t)0x80000000) // also another bit.
+
+#define F_KEY1 ((uint32_t)0x45670123)
+#define F_KEY2 ((uint32_t)0xCDEF89AB)
+#define IS_F_ADDRESS(ADDRESS) ((((ADDRESS) >= 0x08000000) && ((ADDRESS) < 0x080FFFFF)) || (((ADDRESS) >= 0x1FFF7800) && ((ADDRESS) < 0x1FFF7A0F)))
+
+
+
+#pragma pack(push, 1)
+
+/*
+ * The OTP area is divided into 16 OTP data blocks of 32 bytes and one lock OTP block of 16 bytes.
+ * The OTP data and lock blocks cannot be erased. The lock block contains 16 bytes LOCKBi (0 ≤ i ≤ 15)
+ * to lock the corresponding OTP data block (blocks 0 to 15). Each OTP data block can be programmed
+ * until the value 0x00 is programmed in the corresponding OTP lock byte. The lock bytes must only
+ * contain 0x00 and 0xFF values, otherwise the OTP bytes might not be taken into account correctly.
+ */
+
+struct otp {
+	// first 32 bytes =  the '0' Block
+	char		id[4];		///4 bytes < 'P' 'X' '4' '\n'
+	uint8_t		id_type;	///1 byte < 0 for USB VID, 1 for generic VID
+	uint32_t	vid;        ///4 bytes
+	uint32_t	pid;        ///4 bytes
+	char        unused[19];  ///19 bytes
+	// Cert-of-Auth is next 4 blocks ie 1-4  ( where zero is first block )
+	char        signature[128];
+	// insert extras here
+	uint32_t	lock_bytes[4];
+};
+
+struct otp_lock {
+	uint8_t		lock_bytes[16];
+};
+#pragma pack(pop)
+
+#define ADDR_F_SIZE		0x1FFF7A22
+
+#pragma pack(push, 1)
+union udid {
+	uint32_t	serial[3];
+	char  data[12];
+};
+#pragma pack(pop)
+
+
+/**
+ *   s
+ */
+//__EXPORT float calc_indicated_airspeed(float differential_pressure);
+
+__EXPORT void F_unlock(void);
+__EXPORT void F_lock(void);
+__EXPORT int val_read(void *dest, volatile const void *src, int bytes);
+__EXPORT int val_write(volatile void *dest, const void *src, int bytes);
+__EXPORT int write_otp(uint8_t id_type, uint32_t vid, uint32_t pid, char *signature);
+__EXPORT int lock_otp(void);
+
+
+__EXPORT int F_write_byte(uint32_t Address, uint8_t Data);
+__EXPORT int F_write_word(uint32_t Address, uint32_t Data);
+
+__END_DECLS
+
+#endif
diff --git a/src/systemcmds/mtd/module.mk b/src/systemcmds/mtd/module.mk
new file mode 100644
index 000000000..686656597
--- /dev/null
+++ b/src/systemcmds/mtd/module.mk
@@ -0,0 +1,6 @@
+#
+# RAMTRON file system driver
+#
+
+MODULE_COMMAND	 = mtd
+SRCS		 = mtd.c
diff --git a/src/systemcmds/mtd/mtd.c b/src/systemcmds/mtd/mtd.c
new file mode 100644
index 000000000..43e42c951
--- /dev/null
+++ b/src/systemcmds/mtd/mtd.c
@@ -0,0 +1,216 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mtd.c
+ *
+ * mtd service and utility app.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdbool.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <sys/mount.h>
+#include <sys/ioctl.h>
+#include <sys/stat.h>
+
+#include <nuttx/spi.h>
+#include <nuttx/mtd.h>
+#include <nuttx/fs/nxffs.h>
+#include <nuttx/fs/ioctl.h>
+
+#include <arch/board/board.h>
+
+#include "systemlib/systemlib.h"
+#include "systemlib/param/param.h"
+#include "systemlib/err.h"
+
+__EXPORT int mtd_main(int argc, char *argv[]);
+
+#ifndef CONFIG_MTD_RAMTRON
+
+/* create a fake command with decent message to not confuse users */
+int mtd_main(int argc, char *argv[])
+{
+	errx(1, "RAMTRON not enabled, skipping.");
+}
+
+#else
+
+static void	mtd_attach(void);
+static void	mtd_start(void);
+static void	mtd_erase(void);
+static void	mtd_ioctl(unsigned operation);
+static void	mtd_save(const char *name);
+static void	mtd_load(const char *name);
+static void	mtd_test(void);
+
+static bool attached = false;
+static bool started = false;
+static struct mtd_dev_s *mtd_dev;
+static char *_mtdname = "/dev/mtd_params";
+static char *_wpname = "/dev/mtd_waypoints";
+
+int mtd_main(int argc, char *argv[])
+{
+	if (argc >= 2) {
+		if (!strcmp(argv[1], "start"))
+			mtd_start();
+
+		if (!strcmp(argv[1], "test"))
+			mtd_test();
+	}
+
+	errx(1, "expected a command, try 'start' or 'test'");
+}
+
+struct mtd_dev_s *ramtron_initialize(FAR struct spi_dev_s *dev);
+
+
+static void
+mtd_attach(void)
+{
+	/* find the right spi */
+	struct spi_dev_s *spi = up_spiinitialize(2);
+	/* this resets the spi bus, set correct bus speed again */
+	SPI_SETFREQUENCY(spi, 40 * 1000 * 1000);
+	SPI_SETBITS(spi, 8);
+	SPI_SETMODE(spi, SPIDEV_MODE3);
+	SPI_SELECT(spi, SPIDEV_FLASH, false);
+
+	if (spi == NULL)
+		errx(1, "failed to locate spi bus");
+
+	/* start the MTD driver, attempt 5 times */
+	for (int i = 0; i < 5; i++) {
+		mtd_dev = ramtron_initialize(spi);
+
+		if (mtd_dev) {
+			/* abort on first valid result */
+			if (i > 0) {
+				warnx("warning: mtd needed %d attempts to attach", i + 1);
+			}
+
+			break;
+		}
+	}
+
+	/* if last attempt is still unsuccessful, abort */
+	if (mtd_dev == NULL)
+		errx(1, "failed to initialize mtd driver");
+
+	attached = true;
+}
+
+static void
+mtd_start(void)
+{
+	int ret;
+
+	if (started)
+		errx(1, "mtd already mounted");
+
+	if (!attached)
+		mtd_attach();
+
+	if (!mtd_dev) {
+		warnx("ERROR: Failed to create RAMTRON FRAM MTD instance\n");
+		exit(1);
+	}
+
+	/* Initialize to provide an FTL block driver on the MTD FLASH interface.
+	 *
+	 * NOTE:  We could just skip all of this FTL and BCH stuff.  We could
+	 * instead just use the MTD drivers bwrite and bread to perform this
+	 * test.  Creating the character drivers, however, makes this test more
+	 * interesting.
+	 */
+
+	ret = ftl_initialize(0, mtd_dev);
+
+	if (ret < 0) {
+		warnx("Creating /dev/mtdblock0 failed: %d\n", ret);
+		exit(2);
+	}
+
+	/* Now create a character device on the block device */
+
+	ret = bchdev_register("/dev/mtdblock0", _mtdname, false);
+
+	if (ret < 0) {
+		warnx("ERROR: bchdev_register %s failed: %d\n", _mtdname, ret);
+		exit(3);
+	}
+
+	/* mount the mtd */
+	ret = mount(NULL, "/mtd", "nxffs", 0, NULL);
+
+	if (ret < 0)
+		errx(1, "failed to mount /mtd - erase mtd to reformat");
+
+	started = true;
+	warnx("mounted mtd at /mtd");
+	exit(0);
+}
+
+static void
+mtd_ioctl(unsigned operation)
+{
+	int fd;
+
+	fd = open("/mtd/.", 0);
+
+	if (fd < 0)
+		err(1, "open /mtd");
+
+	if (ioctl(fd, operation, 0) < 0)
+		err(1, "ioctl");
+
+	exit(0);
+}
+
+static void
+mtd_test(void)
+{
+//	at24c_test();
+	exit(0);
+}
+
+#endif
diff --git a/src/systemcmds/nshterm/nshterm.c b/src/systemcmds/nshterm/nshterm.c
index 458bb2259..7d9484d3e 100644
--- a/src/systemcmds/nshterm/nshterm.c
+++ b/src/systemcmds/nshterm/nshterm.c
@@ -62,7 +62,9 @@ nshterm_main(int argc, char *argv[])
     }
     uint8_t retries = 0;
     int fd = -1;
-    while (retries < 50) {
+
+    /* try the first 30 seconds */
+    while (retries < 300) {
         /* the retries are to cope with the behaviour of /dev/ttyACM0 */
         /* which may not be ready immediately. */
         fd = open(argv[1], O_RDWR);
diff --git a/src/systemcmds/tests/module.mk b/src/systemcmds/tests/module.mk
index 68a080c77..28e214a6c 100644
--- a/src/systemcmds/tests/module.mk
+++ b/src/systemcmds/tests/module.mk
@@ -28,4 +28,5 @@ SRCS			 = test_adc.c \
 			   tests_main.c \
 			   test_param.c \
 			   test_ppm_loopback.c \
-			   test_rc.c
+			   test_rc.c \
+			   test_mount.c
diff --git a/src/systemcmds/tests/test_file.c b/src/systemcmds/tests/test_file.c
index 798724cf1..83d09dd5e 100644
--- a/src/systemcmds/tests/test_file.c
+++ b/src/systemcmds/tests/test_file.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,9 +35,12 @@
  * @file test_file.c
  *
  * File write test.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
 #include <sys/stat.h>
+#include <poll.h>
 #include <dirent.h>
 #include <stdio.h>
 #include <stddef.h>
@@ -51,6 +54,40 @@
 
 #include "tests.h"
 
+int check_user_abort(int fd);
+
+int check_user_abort(int fd) {
+	/* check if user wants to abort */
+	char c;
+
+	struct pollfd fds;
+	int ret;
+	fds.fd = 0; /* stdin */
+	fds.events = POLLIN;
+	ret = poll(&fds, 1, 0);
+
+	if (ret > 0) {
+
+		read(0, &c, 1);
+
+		switch (c) {
+		case 0x03: // ctrl-c
+		case 0x1b: // esc
+		case 'c':
+		case 'q':
+		{
+			warnx("Test aborted.");
+			fsync(fd);
+			close(fd);
+			return OK;
+			/* not reached */
+			}
+		}
+	}
+
+	return 1;
+}
+
 int
 test_file(int argc, char *argv[])
 {
@@ -86,7 +123,6 @@ test_file(int argc, char *argv[])
 
 			uint8_t read_buf[chunk_sizes[c] + alignments] __attribute__((aligned(64)));
 			hrt_abstime start, end;
-			//perf_counter_t wperf = perf_alloc(PC_ELAPSED, "SD writes (aligned)");
 
 			int fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
 
@@ -94,28 +130,25 @@ test_file(int argc, char *argv[])
 
 			start = hrt_absolute_time();
 			for (unsigned i = 0; i < iterations; i++) {
-				//perf_begin(wperf);
 				int wret = write(fd, write_buf + a, chunk_sizes[c]);
 
 				if (wret != chunk_sizes[c]) {
 					warn("WRITE ERROR!");
 
 					if ((0x3 & (uintptr_t)(write_buf + a)))
-						errx(1, "memory is unaligned, align shift: %d", a);
+						warnx("memory is unaligned, align shift: %d", a);
 
+					return 1;
 				}
 
 				fsync(fd);
-				//perf_end(wperf);
+
+				if (!check_user_abort(fd))
+					return OK;
 
 			}
 			end = hrt_absolute_time();
 
-			//warnx("%dKiB in %llu microseconds", iterations / 2, end - start);
-
-			//perf_print_counter(wperf);
-			//perf_free(wperf);
-
 			close(fd);
 			fd = open("/fs/microsd/testfile", O_RDONLY);
 
@@ -124,7 +157,8 @@ test_file(int argc, char *argv[])
 				int rret = read(fd, read_buf, chunk_sizes[c]);
 
 				if (rret != chunk_sizes[c]) {
-					errx(1, "READ ERROR!");
+					warnx("READ ERROR!");
+					return 1;
 				}
 				
 				/* compare value */
@@ -139,9 +173,13 @@ test_file(int argc, char *argv[])
 				}
 
 				if (!compare_ok) {
-					errx(1, "ABORTING FURTHER COMPARISON DUE TO ERROR");
+					warnx("ABORTING FURTHER COMPARISON DUE TO ERROR");
+					return 1;
 				}
 
+				if (!check_user_abort(fd))
+					return OK;
+
 			}
 
 			/*
@@ -152,16 +190,20 @@ test_file(int argc, char *argv[])
 			int ret = unlink("/fs/microsd/testfile");
 			fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
 
-			warnx("testing aligned writes - please wait..");
+			warnx("testing aligned writes - please wait.. (CTRL^C to abort)");
 
 			start = hrt_absolute_time();
 			for (unsigned i = 0; i < iterations; i++) {
 				int wret = write(fd, write_buf, chunk_sizes[c]);
 
 				if (wret != chunk_sizes[c]) {
-					err(1, "WRITE ERROR!");
+					warnx("WRITE ERROR!");
+					return 1;
 				}
 
+				if (!check_user_abort(fd))
+					return OK;
+
 			}
 
 			fsync(fd);
@@ -178,7 +220,8 @@ test_file(int argc, char *argv[])
 				int rret = read(fd, read_buf, chunk_sizes[c]);
 
 				if (rret != chunk_sizes[c]) {
-					err(1, "READ ERROR!");
+					warnx("READ ERROR!");
+					return 1;
 				}
 				
 				/* compare value */
@@ -190,10 +233,14 @@ test_file(int argc, char *argv[])
 						align_read_ok = false;
 						break;
 					}
+
+					if (!check_user_abort(fd))
+						return OK;
 				}
 
 				if (!align_read_ok) {
-					errx(1, "ABORTING FURTHER COMPARISON DUE TO ERROR");
+					warnx("ABORTING FURTHER COMPARISON DUE TO ERROR");
+					return 1;
 				}
 
 			}
@@ -215,7 +262,8 @@ test_file(int argc, char *argv[])
 				int rret = read(fd, read_buf + a, chunk_sizes[c]);
 
 				if (rret != chunk_sizes[c]) {
-					err(1, "READ ERROR!");
+					warnx("READ ERROR!");
+					return 1;
 				}
 
 				for (int j = 0; j < chunk_sizes[c]; j++) {
@@ -228,10 +276,14 @@ test_file(int argc, char *argv[])
 						if (unalign_read_err_count > 10)
 							break;
 					}
+
+					if (!check_user_abort(fd))
+						return OK;
 				}
 
 				if (!unalign_read_ok) {
-					errx(1, "ABORTING FURTHER COMPARISON DUE TO ERROR");
+					warnx("ABORTING FURTHER COMPARISON DUE TO ERROR");
+					return 1;
 				}
 
 			}
@@ -239,9 +291,10 @@ test_file(int argc, char *argv[])
 			ret = unlink("/fs/microsd/testfile");
 			close(fd);
 
-			if (ret)
-				err(1, "UNLINKING FILE FAILED");
-
+			if (ret) {
+				warnx("UNLINKING FILE FAILED");
+				return 1;
+			}
 		}
 	}
 
@@ -261,75 +314,9 @@ test_file(int argc, char *argv[])
 
 	} else {
 		/* failed opening dir */
-		err(1, "FAILED LISTING MICROSD ROOT DIRECTORY");
-	}
-
-	return 0;
-}
-#if 0
-int
-test_file(int argc, char *argv[])
-{
-	const iterations = 1024;
-
-	/* check if microSD card is mounted */
-	struct stat buffer;
-	if (stat("/fs/microsd/", &buffer)) {
-		warnx("no microSD card mounted, aborting file test");
+		warnx("FAILED LISTING MICROSD ROOT DIRECTORY");
 		return 1;
 	}
 
-	uint8_t buf[512];
-	hrt_abstime start, end;
-	perf_counter_t wperf = perf_alloc(PC_ELAPSED, "SD writes");
-
-	int fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
-	memset(buf, 0, sizeof(buf));
-
-	start = hrt_absolute_time();
-	for (unsigned i = 0; i < iterations; i++) {
-		perf_begin(wperf);
-		write(fd, buf, sizeof(buf));
-		perf_end(wperf);
-	}
-	end = hrt_absolute_time();
-
-	close(fd);
-
-	unlink("/fs/microsd/testfile");
-
-	warnx("%dKiB in %llu microseconds", iterations / 2, end - start);
-	perf_print_counter(wperf);
-	perf_free(wperf);
-
-	warnx("running unlink test");
-
-	/* ensure that common commands do not run against file count limits */
-	for (unsigned i = 0; i < 64; i++) {
-
-		warnx("unlink iteration #%u", i);
-
-		int fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
-		if (fd < 0)
-			errx(1, "failed opening test file before unlink()");
-		int ret = write(fd, buf, sizeof(buf));
-		if (ret < 0)
-			errx(1, "failed writing test file before unlink()");
-		close(fd);
-
-		ret = unlink("/fs/microsd/testfile");
-		if (ret != OK)
-			errx(1, "failed unlinking test file");
-
-		fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
-		if (fd < 0)
-			errx(1, "failed opening test file after unlink()");
-		ret = write(fd, buf, sizeof(buf));
-		if (ret < 0)
-			errx(1, "failed writing test file after unlink()");
-		close(fd);
-	}
-
 	return 0;
 }
-#endif
diff --git a/src/systemcmds/tests/test_mount.c b/src/systemcmds/tests/test_mount.c
new file mode 100644
index 000000000..44e34d9ef
--- /dev/null
+++ b/src/systemcmds/tests/test_mount.c
@@ -0,0 +1,289 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file test_mount.c
+ *
+ * Device mount / unmount stress test
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+#include <sys/stat.h>
+#include <dirent.h>
+#include <stdio.h>
+#include <stddef.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <systemlib/err.h>
+#include <systemlib/systemlib.h>
+#include <systemlib/perf_counter.h>
+#include <string.h>
+
+#include <drivers/drv_hrt.h>
+
+#include "tests.h"
+
+const int fsync_tries = 1;
+const int abort_tries = 10;
+
+int
+test_mount(int argc, char *argv[])
+{
+	const unsigned iterations = 2000;
+	const unsigned alignments = 10;
+
+	const char* cmd_filename = "/fs/microsd/mount_test_cmds.txt";
+
+
+	/* check if microSD card is mounted */
+	struct stat buffer;
+	if (stat("/fs/microsd/", &buffer)) {
+		warnx("no microSD card mounted, aborting file test");
+		return 1;
+	}
+
+	/* list directory */
+	DIR		*d;
+	struct dirent	*dir;
+	d = opendir("/fs/microsd");
+	if (d) {
+
+		while ((dir = readdir(d)) != NULL) {
+			//printf("%s\n", dir->d_name);
+		}
+
+		closedir(d);
+
+		warnx("directory listing ok (FS mounted and readable)");
+
+	} else {
+		/* failed opening dir */
+		warnx("FAILED LISTING MICROSD ROOT DIRECTORY");
+
+		if (stat(cmd_filename, &buffer) == OK) {
+			(void)unlink(cmd_filename);
+		}
+
+		return 1;
+	}
+
+	/* read current test status from file, write test instructions for next round */
+
+	/* initial values */
+	int it_left_fsync = fsync_tries;
+	int it_left_abort = abort_tries;
+
+	int cmd_fd;
+	if (stat(cmd_filename, &buffer) == OK) {
+
+		/* command file exists, read off state */
+		cmd_fd = open(cmd_filename, O_RDWR | O_NONBLOCK);
+		char buf[64];
+		int ret = read(cmd_fd, buf, sizeof(buf));
+
+		if (ret > 0) {
+			int count = 0;
+			ret = sscanf(buf, "TEST: %u %u %n", &it_left_fsync, &it_left_abort, &count);
+		} else {
+			buf[0] = '\0';
+		}
+
+		if (it_left_fsync > fsync_tries)
+			it_left_fsync = fsync_tries;
+
+		if (it_left_abort > abort_tries)
+			it_left_abort = abort_tries;
+
+		warnx("Iterations left: #%d / #%d of %d / %d\n(%s)", it_left_fsync, it_left_abort,
+			fsync_tries, abort_tries, buf);
+
+		int it_left_fsync_prev = it_left_fsync;
+
+		/* now write again what to do next */
+		if (it_left_fsync > 0)
+			it_left_fsync--;
+
+		if (it_left_fsync == 0 && it_left_abort > 0) {
+
+			it_left_abort--;
+
+			/* announce mode switch */
+			if (it_left_fsync_prev != it_left_fsync && it_left_fsync == 0) {
+				warnx("\n SUCCESSFULLY PASSED FSYNC'ED WRITES, CONTINUTING WITHOUT FSYNC");
+				fsync(stdout);
+				fsync(stderr);
+				usleep(20000);
+			}
+
+		}
+
+		if (it_left_abort == 0) {
+			(void)unlink(cmd_filename);
+			return 0;
+		}
+
+	} else {
+
+		/* this must be the first iteration, do something */
+		cmd_fd = open(cmd_filename, O_TRUNC | O_WRONLY | O_CREAT);
+
+		warnx("First iteration of file test\n");
+	}
+
+	char buf[64];
+	int wret = sprintf(buf, "TEST: %d %d ", it_left_fsync, it_left_abort);
+	lseek(cmd_fd, 0, SEEK_SET);
+	write(cmd_fd, buf, strlen(buf) + 1);
+	fsync(cmd_fd);
+
+	/* perform tests for a range of chunk sizes */
+	unsigned chunk_sizes[] = {32, 64, 128, 256, 512, 600, 1200};
+
+	for (unsigned c = 0; c < (sizeof(chunk_sizes) / sizeof(chunk_sizes[0])); c++) {
+
+		printf("\n\n====== FILE TEST: %u bytes chunks (%s) ======\n", chunk_sizes[c], (it_left_fsync > 0) ? "FSYNC" : "NO FSYNC");
+		printf("unpower the system immediately (within 0.5s) when the hash (#) sign appears\n");
+		fsync(stdout);
+		fsync(stderr);
+		usleep(50000);
+
+		for (unsigned a = 0; a < alignments; a++) {
+
+			printf(".");
+
+			uint8_t write_buf[chunk_sizes[c] + alignments] __attribute__((aligned(64)));
+
+			/* fill write buffer with known values */
+			for (int i = 0; i < sizeof(write_buf); i++) {
+				/* this will wrap, but we just need a known value with spacing */
+				write_buf[i] = i+11;
+			}
+
+			uint8_t read_buf[chunk_sizes[c] + alignments] __attribute__((aligned(64)));
+			hrt_abstime start, end;
+
+			int fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
+
+			start = hrt_absolute_time();
+			for (unsigned i = 0; i < iterations; i++) {
+
+				int wret = write(fd, write_buf + a, chunk_sizes[c]);
+
+				if (wret != chunk_sizes[c]) {
+					warn("WRITE ERROR!");
+
+					if ((0x3 & (uintptr_t)(write_buf + a)))
+						warnx("memory is unaligned, align shift: %d", a);
+
+					return 1;
+
+				}
+
+				if (it_left_fsync > 0) {
+					fsync(fd);
+				} else {
+					printf("#");
+					fsync(stdout);
+					fsync(stderr);
+				}
+			}
+
+			if (it_left_fsync > 0) {
+				printf("#");
+			}
+
+			printf(".");
+			fsync(stdout);
+			fsync(stderr);
+			usleep(200000);
+
+			end = hrt_absolute_time();
+
+			close(fd);
+			fd = open("/fs/microsd/testfile", O_RDONLY);
+
+			/* read back data for validation */
+			for (unsigned i = 0; i < iterations; i++) {
+				int rret = read(fd, read_buf, chunk_sizes[c]);
+
+				if (rret != chunk_sizes[c]) {
+					warnx("READ ERROR!");
+					return 1;
+				}
+				
+				/* compare value */
+				bool compare_ok = true;
+
+				for (int j = 0; j < chunk_sizes[c]; j++) {
+					if (read_buf[j] != write_buf[j + a]) {
+						warnx("COMPARISON ERROR: byte %d, align shift: %d", j, a);
+						compare_ok = false;
+						break;
+					}
+				}
+
+				if (!compare_ok) {
+					warnx("ABORTING FURTHER COMPARISON DUE TO ERROR");
+					return 1;
+				}
+
+			}
+
+			int ret = unlink("/fs/microsd/testfile");
+			close(fd);
+
+			if (ret) {
+				warnx("UNLINKING FILE FAILED");
+				return 1;
+			}
+
+		}
+	}
+
+	fsync(stdout);
+	fsync(stderr);
+	usleep(20000);
+
+
+
+	/* we always reboot for the next test if we get here */
+	warnx("Iteration done, rebooting..");
+	fsync(stdout);
+	fsync(stderr);
+	usleep(50000);
+	systemreset(false);
+
+	/* never going to get here */
+	return 0;
+}
diff --git a/src/systemcmds/tests/tests.h b/src/systemcmds/tests/tests.h
index a57d04be3..bec13bd30 100644
--- a/src/systemcmds/tests/tests.h
+++ b/src/systemcmds/tests/tests.h
@@ -109,6 +109,7 @@ extern int	test_bson(int argc, char *argv[]);
 extern int	test_file(int argc, char *argv[]);
 extern int	test_mixer(int argc, char *argv[]);
 extern int	test_rc(int argc, char *argv[]);
+extern int	test_mount(int argc, char *argv[]);
 
 __END_DECLS
 
diff --git a/src/systemcmds/tests/tests_main.c b/src/systemcmds/tests/tests_main.c
index 1088a4407..84535126f 100644
--- a/src/systemcmds/tests/tests_main.c
+++ b/src/systemcmds/tests/tests_main.c
@@ -106,6 +106,7 @@ const struct {
 	{"file",		test_file,	0},
 	{"mixer",		test_mixer,	OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"rc",			test_rc,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"mount",		test_mount,	OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"help",		test_help,	OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST},
 	{NULL,			NULL, 		0}
 };