791 files changed, 21540 insertions, 3363 deletions

diff --git a/.gitignore b/.gitignore
index 8e9075ba4..de03b0a60 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,4 +1,5 @@
 .built
+.context
 *.context
 *.bdat
 *.pdat
@@ -43,7 +44,6 @@ nuttx/nuttx.hex
 .settings
 Firmware.sublime-workspace
 .DS_Store
-nsh_romfsimg.h
 cscope.out
 .configX-e
 nuttx-export.zip
@@ -55,3 +55,8 @@ mavlink/include/mavlink/v0.9/
 core
 .gdbinit
 mkdeps
+Archives
+Build
+!ROMFS/*/*.d
+!ROMFS/*/*/*.d
+!ROMFS/*/*/*/*.d
diff --git a/Documentation/control_flow.graffle b/Documentation/control_flow.graffle
new file mode 100644
index 000000000..253523110
--- /dev/null
+++ b/Documentation/control_flow.graffle
@@ -0,0 +1,16650 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>ApplicationVersion</key>
+	<array>
+		<string>com.omnigroup.OmniGraffle</string>
+		<string>139.16.0.171715</string>
+	</array>
+	<key>CreationDate</key>
+	<string>2013-02-22 17:51:02 +0000</string>
+	<key>Creator</key>
+	<string>Lorenz Meier</string>
+	<key>GraphDocumentVersion</key>
+	<integer>8</integer>
+	<key>GuidesLocked</key>
+	<string>NO</string>
+	<key>GuidesVisible</key>
+	<string>YES</string>
+	<key>ImageCounter</key>
+	<integer>1</integer>
+	<key>LinksVisible</key>
+	<string>NO</string>
+	<key>MagnetsVisible</key>
+	<string>NO</string>
+	<key>MasterSheets</key>
+	<array/>
+	<key>ModificationDate</key>
+	<string>2013-04-20 15:38:47 +0000</string>
+	<key>Modifier</key>
+	<string>Lorenz Meier</string>
+	<key>NotesVisible</key>
+	<string>NO</string>
+	<key>OriginVisible</key>
+	<string>NO</string>
+	<key>PageBreaks</key>
+	<string>YES</string>
+	<key>PrintInfo</key>
+	<dict>
+		<key>NSBottomMargin</key>
+		<array>
+			<string>float</string>
+			<string>41</string>
+		</array>
+		<key>NSHorizonalPagination</key>
+		<array>
+			<string>coded</string>
+			<string>BAtzdHJlYW10eXBlZIHoA4QBQISEhAhOU051bWJlcgCEhAdOU1ZhbHVlAISECE5TT2JqZWN0AIWEASqEhAFxlwCG</string>
+		</array>
+		<key>NSLeftMargin</key>
+		<array>
+			<string>float</string>
+			<string>18</string>
+		</array>
+		<key>NSPaperName</key>
+		<array>
+			<string>string</string>
+			<string>iso-a3</string>
+		</array>
+		<key>NSPaperSize</key>
+		<array>
+			<string>size</string>
+			<string>{842, 1191}</string>
+		</array>
+		<key>NSPrintReverseOrientation</key>
+		<array>
+			<string>int</string>
+			<string>0</string>
+		</array>
+		<key>NSRightMargin</key>
+		<array>
+			<string>float</string>
+			<string>18</string>
+		</array>
+		<key>NSTopMargin</key>
+		<array>
+			<string>float</string>
+			<string>18</string>
+		</array>
+	</dict>
+	<key>ReadOnly</key>
+	<string>NO</string>
+	<key>Sheets</key>
+	<array>
+		<dict>
+			<key>ActiveLayerIndex</key>
+			<integer>0</integer>
+			<key>AutoAdjust</key>
+			<true/>
+			<key>BackgroundGraphic</key>
+			<dict>
+				<key>Bounds</key>
+				<string>{{0, 0}, {806, 1132}}</string>
+				<key>Class</key>
+				<string>SolidGraphic</string>
+				<key>ID</key>
+				<integer>2</integer>
+				<key>Style</key>
+				<dict>
+					<key>shadow</key>
+					<dict>
+						<key>Draws</key>
+						<string>NO</string>
+					</dict>
+					<key>stroke</key>
+					<dict>
+						<key>Draws</key>
+						<string>NO</string>
+					</dict>
+				</dict>
+			</dict>
+			<key>BaseZoom</key>
+			<integer>0</integer>
+			<key>CanvasOrigin</key>
+			<string>{0, 0}</string>
+			<key>ColumnAlign</key>
+			<integer>1</integer>
+			<key>ColumnSpacing</key>
+			<real>36</real>
+			<key>DisplayScale</key>
+			<string>1 0/72 in = 1.0000 in</string>
+			<key>GraphicsList</key>
+			<array>
+				<dict>
+					<key>Bounds</key>
+					<string>{{320.41170773935767, 646.55758982070449}, {100, 24}}</string>
+					<key>Class</key>
+					<string>ShapedGraphic</string>
+					<key>FitText</key>
+					<string>YES</string>
+					<key>Flow</key>
+					<string>Resize</string>
+					<key>FontInfo</key>
+					<dict>
+						<key>Color</key>
+						<dict>
+							<key>w</key>
+							<string>0</string>
+						</dict>
+						<key>Font</key>
+						<string>Helvetica</string>
+						<key>Size</key>
+						<real>12</real>
+					</dict>
+					<key>ID</key>
+					<integer>46</integer>
+					<key>Line</key>
+					<dict>
+						<key>ID</key>
+						<integer>45</integer>
+						<key>Position</key>
+						<real>0.49247664213180542</real>
+						<key>RotationType</key>
+						<integer>0</integer>
+					</dict>
+					<key>Shape</key>
+					<string>Rectangle</string>
+					<key>Style</key>
+					<dict>
+						<key>shadow</key>
+						<dict>
+							<key>Draws</key>
+							<string>NO</string>
+						</dict>
+						<key>stroke</key>
+						<dict>
+							<key>Draws</key>
+							<string>NO</string>
+						</dict>
+					</dict>
+					<key>Text</key>
+					<dict>
+						<key>Text</key>
+						<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
+\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
+{\colortbl;\red255\green255\blue255;}
+\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc
+
+\f0\fs24 \cf0 limited / checked}</string>
+					</dict>
+					<key>Wrap</key>
+					<string>NO</string>
+				</dict>
+				<dict>
+					<key>Class</key>
+					<string>LineGraphic</string>
+					<key>Head</key>
+					<dict>
+						<key>ID</key>
+						<integer>44</integer>
+					</dict>
+					<key>ID</key>
+					<integer>45</integer>
+					<key>Points</key>
+					<array>
+						<string>{283.47949897905681, 658.66217570036315}</string>
+						<string>{459.99996984645378, 658.44980851233595}</string>
+					</array>
+					<key>Style</key>
+					<dict>
+						<key>stroke</key>
+						<dict>
+							<key>HeadArrow</key>
+							<string>FilledArrow</string>
+							<key>Legacy</key>
+							<true/>
+							<key>LineType</key>
+							<integer>1</integer>
+							<key>TailArrow</key>
+							<string>0</string>
+						</dict>
+					</dict>
+					<key>Tail</key>
+					<dict>
+						<key>ID</key>
+						<integer>29</integer>
+					</dict>
+				</dict>
+				<dict>
+					<key>Bounds</key>
+					<string>{{460.49996948242188, 640.30001831054688}, {248.00003051757812, 36}}</string>
+					<key>Class</key>
+					<string>ShapedGraphic</string>
+					<key>FontInfo</key>
+					<dict>
+						<key>Font</key>
+						<string>Helvetica</string>
+						<key>Size</key>
+						<real>12</real>
+					</dict>
+					<key>ID</key>
+					<integer>44</integer>
+					<key>Shape</key>
+					<string>Rectangle</string>
+					<key>Style</key>
+					<dict>
+						<key>stroke</key>
+						<dict>
+							<key>CornerRadius</key>
+							<real>9</real>
+						</dict>
+					</dict>
+					<key>Text</key>
+					<dict>
+						<key>Text</key>
+						<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
+\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
+{\colortbl;\red255\green255\blue255;}
+\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc
+
+\f0\i\fs24 \cf0 ACTUATOR_CONTROLS_EFFECTIVE_0}</string>
+					</dict>
+				</dict>
+				<dict>
+					<key>Bounds</key>
+					<string>{{324, 353.1875}, {120, 28}}</string>
+					<key>Class</key>
+					<string>ShapedGraphic</string>
+					<key>FitText</key>
+					<string>YES</string>
+					<key>Flow</key>
+					<string>Resize</string>
+					<key>ID</key>
+					<integer>43</integer>
+					<key>Shape</key>
+					<string>Rectangle</string>
+					<key>Style</key>
+					<dict>
+						<key>fill</key>
+						<dict>
+							<key>Draws</key>
+							<string>NO</string>
+						</dict>
+						<key>shadow</key>
+						<dict>
+							<key>Draws</key>
+							<string>NO</string>
+						</dict>
+						<key>stroke</key>
+						<dict>
+							<key>Draws</key>
+							<string>NO</string>
+						</dict>
+					</dict>
+					<key>Text</key>
+					<dict>
+						<key>Align</key>
+						<integer>0</integer>
+						<key>Pad</key>
+						<integer>0</integer>
+						<key>Text</key>
+						<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
+\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
+{\colortbl;\red255\green255\blue255;\red68\green147\blue53;}
+\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural
+
+\f0\fs24 \cf2 MAVLink:\
+'MANUAL_CONTROL'}</string>
+						<key>VerticalPad</key>
+						<integer>0</integer>
+					</dict>
+					<key>Wrap</key>
+					<string>NO</string>
+				</dict>
+				<dict>
+					<key>Bounds</key>
+					<string>{{324, 174.5}, {129, 28}}</string>
+					<key>Class</key>
+					<string>ShapedGraphic</string>
+					<key>FitText</key>
+					<string>YES</string>
+					<key>Flow</key>
+					<string>Resize</string>
+					<key>ID</key>
+					<integer>42</integer>
+					<key>Shape</key>
+					<string>Rectangle</string>
+					<key>Style</key>
+					<dict>
+						<key>fill</key>
+						<dict>
+							<key>Draws</key>
+							<string>NO</string>
+						</dict>
+						<key>shadow</key>
+						<dict>
+							<key>Draws</key>
+							<string>NO</string>
+						</dict>
+						<key>stroke</key>
+						<dict>
+							<key>Draws</key>
+							<string>NO</string>
+						</dict>
+					</dict>
+					<key>Text</key>
+					<dict>
+						<key>Align</key>
+						<integer>0</integer>
+						<key>Pad</key>
+						<integer>0</integer>
+						<key>Text</key>
+						<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
+\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
+{\colortbl;\red255\green255\blue255;\red68\green147\blue53;}
+\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural
+
+\f0\fs24 \cf2 MAVLink:\
+'RC_CHANNELS_RAW'}</string>
+						<key>VerticalPad</key>
+						<integer>0</integer>
+					</dict>
+					<key>Wrap</key>
+					<string>NO</string>
+				</dict>
+				<dict>
+					<key>Bounds</key>
+					<string>{{114.97958374023438, 786}, {191, 14}}</string>
+					<key>Class</key>
+					<string>ShapedGraphic</string>
+					<key>FitText</key>
+					<string>YES</string>
+					<key>Flow</key>
+					<string>Resize</string>
+					<key>ID</key>
+					<integer>40</integer>
+					<key>Shape</key>
+					<string>Rectangle</string>
+					<key>Style</key>
+					<dict>
+						<key>fill</key>
+						<dict>
+							<key>Draws</key>
+							<string>NO</string>
+						</dict>
+						<key>shadow</key>
+						<dict>
+							<key>Draws</key>
+							<string>NO</string>
+						</dict>
+						<key>stroke</key>
+						<dict>
+							<key>Draws</key>
+							<string>NO</string>
+						</dict>
+					</dict>
+					<key>Text</key>
+					<dict>
+						<key>Pad</key>
+						<integer>0</integer>
+						<key>Text</key>
+						<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
+\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
+{\colortbl;\red255\green255\blue255;\red68\green147\blue53;}
+\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc
+
+\f0\fs24 \cf2 MAVLink: 'SERVO_OUTPUT_RAW'}</string>
+						<key>VerticalPad</key>
+						<integer>0</integer>
+					</dict>
+					<key>Wrap</key>
+					<string>NO</string>
+				</dict>
+				<dict>
+					<key>Bounds</key>
+					<string>{{528.5, 689}, {112, 14}}</string>
+					<key>Class</key>
+					<string>ShapedGraphic</string>
+					<key>FitText</key>
+					<string>YES</string>
+					<key>Flow</key>
+					<string>Resize</string>
+					<key>ID</key>
+					<integer>39</integer>
+					<key>Shape</key>
+					<string>Rectangle</string>
+					<key>Style</key>
+					<dict>
+						<key>fill</key>
+						<dict>
+							<key>Draws</key>
+							<string>NO</string>
+						</dict>
+						<key>shadow</key>
+						<dict>
+							<key>Draws</key>
+							<string>NO</string>
+						</dict>
+						<key>stroke</key>
+						<dict>
+							<key>Draws</key>
+							<string>NO</string>
+						</dict>
+					</dict>
+					<key>Text</key>
+					<dict>
+						<key>Pad</key>
+						<integer>0</integer>
+						<key>Text</key>
+						<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
+\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
+{\colortbl;\red255\green255\blue255;\red68\green147\blue53;}
+\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc
+
+\f0\fs24 \cf2 MAVLink: 'ctrl eff 0-3'}</string>
+						<key>VerticalPad</key>
+						<integer>0</integer>
+					</dict>
+					<key>Wrap</key>
+					<string>NO</string>
+				</dict>
+				<dict>
+					<key>Class</key>
+					<string>LineGraphic</string>
+					<key>Head</key>
+					<dict>
+						<key>ID</key>
+						<integer>11</integer>
+					</dict>
+					<key>ID</key>
+					<integer>38</integer>
+					<key>Points</key>
+					<array>
+						<string>{584.52245687751122, 125.49999965650382}</string>
+						<string>{584.56069426576869, 157.00000090441219}</string>
+					</array>
+					<key>Style</key>
+					<dict>
+						<key>stroke</key>
+						<dict>
+							<key>HeadArrow</key>
+							<string>FilledArrow</string>
+							<key>Legacy</key>
+							<true/>
+							<key>LineType</key>
+							<integer>1</integer>
+							<key>TailArrow</key>
+							<string>0</string>
+						</dict>
+					</dict>
+					<key>Tail</key>
+					<dict>
+						<key>ID</key>
+						<integer>37</integer>
+					</dict>
+				</dict>
+				<dict>
+					<key>Bounds</key>
+					<string>{{448.5, 89}, {272, 36}}</string>
+					<key>Class</key>
+					<string>ShapedGraphic</string>
+					<key>FontInfo</key>
+					<dict>
+						<key>Font</key>
+						<string>Helvetica</string>
+						<key>Size</key>
+						<real>12</real>
+					</dict>
+					<key>ID</key>
+					<integer>37</integer>
+					<key>Shape</key>
+					<string>Rectangle</string>
+					<key>Style</key>
+					<dict>
+						<key>stroke</key>
+						<dict>
+							<key>CornerRadius</key>
+							<real>9</real>
+						</dict>
+					</dict>
+					<key>Text</key>
+					<dict>
+						<key>Text</key>
+						<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
+\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
+{\colortbl;\red255\green255\blue255;}
+\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc
+
+\f0\i\fs24 \cf0 VEHICLE_GLOBAL_POSITION_SETPOINT /\
+VEHICLE_LOCAL_POSITION_SETPOINT}</string>
+					</dict>
+				</dict>
+				<dict>
+					<key>Class</key>
+					<string>LineGraphic</string>
+					<key>Head</key>
+					<dict>
+						<key>ID</key>
+						<integer>27</integer>
+					</dict>
+					<key>ID</key>
+					<integer>34</integer>
+					<key>Points</key>
+					<array>
+						<string>{210.47275259888471, 495.87499981747118}</string>
+						<string>{210.43193555768113, 543.06250166479344}</string>
+					</array>
+					<key>Style</key>
+					<dict>
+						<key>stroke</key>
+						<dict>
+							<key>HeadArrow</key>
+							<string>FilledArrow</string>
+							<key>Legacy</key>
+							<true/>
+							<key>LineType</key>
+							<integer>1</integer>
+							<key>TailArrow</key>
+							<string>0</string>
+						</dict>
+					</dict>
+					<key>Tail</key>
+					<dict>
+						<key>ID</key>
+						<integer>10</integer>
+					</dict>
+				</dict>
+				<dict>
+					<key>Bounds</key>
+					<string>{{108, 737.9375}, {205, 36}}</string>
+					<key>Class</key>
+					<string>ShapedGraphic</string>
+					<key>FontInfo</key>
+					<dict>
+						<key>Font</key>
+						<string>Helvetica</string>
+						<key>Size</key>
+						<real>12</real>
+					</dict>
+					<key>ID</key>
+					<integer>33</integer>
+					<key>Shape</key>
+					<string>Rectangle</string>
+					<key>Style</key>
+					<dict>
+						<key>stroke</key>
+						<dict>
+							<key>CornerRadius</key>
+							<real>9</real>
+						</dict>
+					</dict>
+					<key>Text</key>
+					<dict>
+						<key>Text</key>
+						<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
+\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
+{\colortbl;\red255\green255\blue255;}
+\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc
+
+\f0\i\fs24 \cf0 ACTUATOR_OUTPUTS}</string>
+					</dict>
+				</dict>
+				<dict>
+					<key>Class</key>
+					<string>LineGraphic</string>
+					<key>Head</key>
+					<dict>
+						<key>ID</key>
+						<integer>29</integer>
+					</dict>
+					<key>ID</key>
+					<integer>32</integer>
+					<key>Points</key>
+					<array>
+						<string>{210.46968123779743, 580.06249992316259}</string>
+						<string>{210.44442316539605, 627.25000030102035}</string>
+					</array>
+					<key>Style</key>
+					<dict>
+						<key>stroke</key>
+						<dict>
+							<key>HeadArrow</key>
+							<string>FilledArrow</string>
+							<key>Legacy</key>
+							<true/>
+							<key>LineType</key>
+							<integer>1</integer>
+							<key>TailArrow</key>
+							<string>0</string>
+						</dict>
+					</dict>
+					<key>Tail</key>
+					<dict>
+						<key>ID</key>
+						<integer>27</integer>
+					</dict>
+				</dict>
+				<dict>
+					<key>Class</key>
+					<string>LineGraphic</string>
+					<key>Head</key>
+					<dict>
+						<key>ID</key>
+						<integer>33</integer>
+					</dict>
+					<key>ID</key>
+					<integer>30</integer>
+					<key>Points</key>
+					<array>
+						<string>{210.48620562018775, 690.25}</string>
+						<string>{210.49612530146715, 737.4375}</string>
+					</array>
+					<key>Style</key>
+					<dict>
+						<key>stroke</key>
+						<dict>
+							<key>HeadArrow</key>
+							<string>FilledArrow</string>
+							<key>Legacy</key>
+							<true/>
+							<key>LineType</key>
+							<integer>1</integer>
+							<key>TailArrow</key>
+							<string>0</string>
+						</dict>
+					</dict>
+					<key>Tail</key>
+					<dict>
+						<key>ID</key>
+						<integer>29</integer>
+					</dict>
+				</dict>
+				<dict>
+					<key>Bounds</key>
+					<string>{{137.97958374023438, 627.75}, {145, 62}}</string>
+					<key>Class</key>
+					<string>ShapedGraphic</string>
+					<key>FontInfo</key>
+					<dict>
+						<key>Font</key>
+						<string>Helvetica</string>
+						<key>Size</key>
+						<real>12</real>
+					</dict>
+					<key>ID</key>
+					<integer>29</integer>
+					<key>Shape</key>
+					<string>RoundRect</string>
+					<key>Style</key>
+					<dict>
+						<key>fill</key>
+						<dict>
+							<key>Color</key>
+							<dict>
+								<key>b</key>
+								<string>1</string>
+								<key>g</key>
+								<string>0.814996</string>
+								<key>r</key>
+								<string>0.627106</string>
+							</dict>
+						</dict>
+					</dict>
+					<key>Text</key>
+					<dict>
+						<key>Text</key>
+						<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
+\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
+{\colortbl;\red255\green255\blue255;}
+\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc
+
+\f0\fs24 \cf0 Actuator Mixer}</string>
+						<key>VerticalPad</key>
+						<integer>0</integer>
+					</dict>
+				</dict>
+				<dict>
+					<key>Bounds</key>
+					<string>{{107.97958374023438, 543.5625}, {205, 36}}</string>
+					<key>Class</key>
+					<string>ShapedGraphic</string>
+					<key>FontInfo</key>
+					<dict>
+						<key>Font</key>
+						<string>Helvetica</string>
+						<key>Size</key>
+						<real>12</real>
+					</dict>
+					<key>ID</key>
+					<integer>27</integer>
+					<key>Shape</key>
+					<string>Rectangle</string>
+					<key>Style</key>
+					<dict>
+						<key>stroke</key>
+						<dict>
+							<key>CornerRadius</key>
+							<real>9</real>
+						</dict>
+					</dict>
+					<key>Text</key>
+					<dict>
+						<key>Text</key>
+						<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
+\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
+{\colortbl;\red255\green255\blue255;}
+\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc
+
+\f0\i\fs24 \cf0 ACTUATOR_CONTROLS_0}</string>
+					</dict>
+				</dict>
+				<dict>
+					<key>Bounds</key>
+					<string>{{394.22506405270201, 452.15000309396282}, {89, 24}}</string>
+					<key>Class</key>
+					<string>ShapedGraphic</string>
+					<key>FitText</key>
+					<string>YES</string>
+					<key>Flow</key>
+					<string>Resize</string>
+					<key>FontInfo</key>
+					<dict>
+						<key>Color</key>
+						<dict>
+							<key>w</key>
+							<string>0</string>
+						</dict>
+						<key>Font</key>
+						<string>Helvetica</string>
+						<key>Size</key>
+						<real>12</real>
+					</dict>
+					<key>ID</key>
+					<integer>25</integer>
+					<key>Line</key>
+					<dict>
+						<key>ID</key>
+						<integer>22</integer>
+						<key>Position</key>
+						<real>0.5900501012802124</real>
+						<key>RotationType</key>
+						<integer>0</integer>
+					</dict>
+					<key>Shape</key>
+					<string>Rectangle</string>
+					<key>Style</key>
+					<dict>
+						<key>shadow</key>
+						<dict>
+							<key>Draws</key>
+							<string>NO</string>
+						</dict>
+						<key>stroke</key>
+						<dict>
+							<key>Draws</key>
+							<string>NO</string>
+						</dict>
+					</dict>
+					<key>Text</key>
+					<dict>
+						<key>Text</key>
+						<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
+\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
+{\colortbl;\red255\green255\blue255;}
+\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc
+
+\f0\fs24 \cf0 if in auto mode}</string>
+					</dict>
+					<key>Wrap</key>
+					<string>NO</string>
+				</dict>
+				<dict>
+					<key>Bounds</key>
+					<string>{{152.49994329565658, 397.00120984204113}, {116, 24}}</string>
+					<key>Class</key>
+					<string>ShapedGraphic</string>
+					<key>FitText</key>
+					<string>YES</string>
+					<key>Flow</key>
+					<string>Resize</string>
+					<key>FontInfo</key>
+					<dict>
+						<key>Color</key>
+						<dict>
+							<key>w</key>
+							<string>0</string>
+						</dict>
+						<key>Font</key>
+						<string>Helvetica</string>
+						<key>Size</key>
+						<real>12</real>
+					</dict>
+					<key>ID</key>
+					<integer>24</integer>
+					<key>Line</key>
+					<dict>
+						<key>ID</key>
+						<integer>17</integer>
+						<key>Position</key>
+						<real>0.49406537413597107</real>
+						<key>RotationType</key>
+						<integer>0</integer>
+					</dict>
+					<key>Shape</key>
+					<string>Rectangle</string>
+					<key>Style</key>
+					<dict>
+						<key>shadow</key>
+						<dict>
+							<key>Draws</key>
+							<string>NO</string>
+						</dict>
+						<key>stroke</key>
+						<dict>
+							<key>Draws</key>
+							<string>NO</string>
+						</dict>
+					</dict>
+					<key>Text</key>
+					<dict>
+						<key>Text</key>
+						<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
+\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
+{\colortbl;\red255\green255\blue255;}
+\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc
+
+\f0\fs24 \cf0 if in stabilized mode}</string>
+					</dict>
+					<key>Wrap</key>
+					<string>NO</string>
+				</dict>
+				<dict>
+					<key>Class</key>
+					<string>LineGraphic</string>
+					<key>Head</key>
+					<dict>
+						<key>ID</key>
+						<integer>21</integer>
+					</dict>
+					<key>ID</key>
+					<integer>23</integer>
+					<key>OrthogonalBarAutomatic</key>
+					<true/>
+					<key>OrthogonalBarPoint</key>
+					<string>{0, 0}</string>
+					<key>OrthogonalBarPosition</key>
+					<real>-1</real>
+					<key>Points</key>
+					<array>
+						<string>{584.49994992834695, 220}</string>
+						<string>{584.4997453697481, 348.6875000000008}</string>
+					</array>
+					<key>Style</key>
+					<dict>
+						<key>stroke</key>
+						<dict>
+							<key>HeadArrow</key>
+							<string>FilledArrow</string>
+							<key>Legacy</key>
+							<true/>
+							<key>LineType</key>
+							<integer>2</integer>
+							<key>TailArrow</key>
+							<string>0</string>
+						</dict>
+					</dict>
+					<key>Tail</key>
+					<dict>
+						<key>ID</key>
+						<integer>11</integer>
+					</dict>
+				</dict>
+				<dict>
+					<key>Class</key>
+					<string>LineGraphic</string>
+					<key>Head</key>
+					<dict>
+						<key>ID</key>
+						<integer>10</integer>
+					</dict>
+					<key>ID</key>
+					<integer>22</integer>
+					<key>OrthogonalBarAutomatic</key>
+					<true/>
+					<key>OrthogonalBarPoint</key>
+					<string>{0, 0}</string>
+					<key>OrthogonalBarPosition</key>
+					<real>33.206413269042969</real>
+					<key>Points</key>
+					<array>
+						<string>{583.83119320765968, 385.68717359526977}</string>
+						<string>{581, 464}</string>
+						<string>{283.49994000956832, 464.30111342104294}</string>
+					</array>
+					<key>Style</key>
+					<dict>
+						<key>stroke</key>
+						<dict>
+							<key>HeadArrow</key>
+							<string>FilledArrow</string>
+							<key>Legacy</key>
+							<true/>
+							<key>LineType</key>
+							<integer>2</integer>
+							<key>Pattern</key>
+							<integer>2</integer>
+							<key>TailArrow</key>
+							<string>0</string>
+						</dict>
+					</dict>
+					<key>Tail</key>
+					<dict>
+						<key>ID</key>
+						<integer>21</integer>
+					</dict>
+				</dict>
+				<dict>
+					<key>Bounds</key>
+					<string>{{482, 349.1875}, {205, 36}}</string>
+					<key>Class</key>
+					<string>ShapedGraphic</string>
+					<key>FontInfo</key>
+					<dict>
+						<key>Font</key>
+						<string>Helvetica</string>
+						<key>Size</key>
+						<real>12</real>
+					</dict>
+					<key>ID</key>
+					<integer>21</integer>
+					<key>Shape</key>
+					<string>Rectangle</string>
+					<key>Style</key>
+					<dict>
+						<key>stroke</key>
+						<dict>
+							<key>CornerRadius</key>
+							<real>9</real>
+						</dict>
+					</dict>
+					<key>Text</key>
+					<dict>
+						<key>Text</key>
+						<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
+\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
+{\colortbl;\red255\green255\blue255;}
+\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc
+
+\f0\i\fs24 \cf0 VEHICLE_ATTITUDE_SETPOINT}</string>
+					</dict>
+				</dict>
+				<dict>
+					<key>Class</key>
+					<string>LineGraphic</string>
+					<key>Head</key>
+					<dict>
+						<key>ID</key>
+						<integer>10</integer>
+					</dict>
+					<key>ID</key>
+					<integer>17</integer>
+					<key>Points</key>
+					<array>
+						<string>{210.49997491180866, 385.6875}</string>
+						<string>{210.49991091996927, 432.875}</string>
+					</array>
+					<key>Style</key>
+					<dict>
+						<key>stroke</key>
+						<dict>
+							<key>HeadArrow</key>
+							<string>FilledArrow</string>
+							<key>Legacy</key>
+							<true/>
+							<key>LineType</key>
+							<integer>1</integer>
+							<key>Pattern</key>
+							<integer>2</integer>
+							<key>TailArrow</key>
+							<string>0</string>
+						</dict>
+					</dict>
+					<key>Tail</key>
+					<dict>
+						<key>ID</key>
+						<integer>6</integer>
+					</dict>
+				</dict>
+				<dict>
+					<key>Class</key>
+					<string>LineGraphic</string>
+					<key>Head</key>
+					<dict>
+						<key>ID</key>
+						<integer>5</integer>
+					</dict>
+					<key>ID</key>
+					<integer>16</integer>
+					<key>Points</key>
+					<array>
+						<string>{283.49999999999511, 270.00001907176534}</string>
+						<string>{339.50000000000028, 270.00001907176534}</string>
+					</array>
+					<key>Style</key>
+					<dict>
+						<key>stroke</key>
+						<dict>
+							<key>HeadArrow</key>
+							<string>FilledArrow</string>
+							<key>Legacy</key>
+							<true/>
+							<key>LineType</key>
+							<integer>1</integer>
+							<key>TailArrow</key>
+							<string>0</string>
+						</dict>
+					</dict>
+					<key>Tail</key>
+					<dict>
+						<key>ID</key>
+						<integer>9</integer>
+					</dict>
+				</dict>
+				<dict>
+					<key>Class</key>
+					<string>LineGraphic</string>
+					<key>Head</key>
+					<dict>
+						<key>ID</key>
+						<integer>6</integer>
+					</dict>
+					<key>ID</key>
+					<integer>15</integer>
+					<key>Points</key>
+					<array>
+						<string>{210.49998770563047, 301.5}</string>
+						<string>{210.49998770563047, 348.6875}</string>
+					</array>
+					<key>Style</key>
+					<dict>
+						<key>stroke</key>
+						<dict>
+							<key>HeadArrow</key>
+							<string>FilledArrow</string>
+							<key>Legacy</key>
+							<true/>
+							<key>LineType</key>
+							<integer>1</integer>
+							<key>TailArrow</key>
+							<string>0</string>
+						</dict>
+					</dict>
+					<key>Tail</key>
+					<dict>
+						<key>ID</key>
+						<integer>9</integer>
+					</dict>
+				</dict>
+				<dict>
+					<key>Class</key>
+					<string>LineGraphic</string>
+					<key>Head</key>
+					<dict>
+						<key>ID</key>
+						<integer>9</integer>
+					</dict>
+					<key>ID</key>
+					<integer>13</integer>
+					<key>Points</key>
+					<array>
+						<string>{210.49171354592596, 207}</string>
+						<string>{210.49498558851923, 238.4999999999998}</string>
+					</array>
+					<key>Style</key>
+					<dict>
+						<key>stroke</key>
+						<dict>
+							<key>HeadArrow</key>
+							<string>FilledArrow</string>
+							<key>Legacy</key>
+							<true/>
+							<key>LineType</key>
+							<integer>1</integer>
+							<key>TailArrow</key>
+							<string>0</string>
+						</dict>
+					</dict>
+					<key>Tail</key>
+					<dict>
+						<key>ID</key>
+						<integer>4</integer>
+					</dict>
+				</dict>
+				<dict>
+					<key>Class</key>
+					<string>LineGraphic</string>
+					<key>Head</key>
+					<dict>
+						<key>ID</key>
+						<integer>4</integer>
+					</dict>
+					<key>ID</key>
+					<integer>12</integer>
+					<key>Points</key>
+					<array>
+						<string>{210.49498558851246, 138.5000000000002}</string>
+						<string>{210.48997117702493, 170.00000000001342}</string>
+					</array>
+					<key>Style</key>
+					<dict>
+						<key>stroke</key>
+						<dict>
+							<key>HeadArrow</key>
+							<string>FilledArrow</string>
+							<key>Legacy</key>
+							<true/>
+							<key>LineType</key>
+							<integer>1</integer>
+							<key>TailArrow</key>
+							<string>0</string>
+						</dict>
+					</dict>
+					<key>Tail</key>
+					<dict>
+						<key>ID</key>
+						<integer>8</integer>
+					</dict>
+				</dict>
+				<dict>
+					<key>Bounds</key>
+					<string>{{512, 157.5}, {145, 62}}</string>
+					<key>Class</key>
+					<string>ShapedGraphic</string>
+					<key>FontInfo</key>
+					<dict>
+						<key>Font</key>
+						<string>Helvetica</string>
+						<key>Size</key>
+						<real>12</real>
+					</dict>
+					<key>ID</key>
+					<integer>11</integer>
+					<key>Shape</key>
+					<string>RoundRect</string>
+					<key>Style</key>
+					<dict>
+						<key>fill</key>
+						<dict>
+							<key>Color</key>
+							<dict>
+								<key>b</key>
+								<string>0.999136</string>
+								<key>g</key>
+								<string>0.808554</string>
+								<key>r</key>
+								<string>0.587078</string>
+							</dict>
+						</dict>
+					</dict>
+					<key>Text</key>
+					<dict>
+						<key>Text</key>
+						<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
+\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
+{\colortbl;\red255\green255\blue255;}
+\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc
+
+\f0\fs24 \cf0 Position Controller}</string>
+						<key>VerticalPad</key>
+						<integer>0</integer>
+					</dict>
+				</dict>
+				<dict>
+					<key>Bounds</key>
+					<string>{{138, 433.375}, {145, 62}}</string>
+					<key>Class</key>
+					<string>ShapedGraphic</string>
+					<key>FontInfo</key>
+					<dict>
+						<key>Font</key>
+						<string>Helvetica</string>
+						<key>Size</key>
+						<real>12</real>
+					</dict>
+					<key>ID</key>
+					<integer>10</integer>
+					<key>Shape</key>
+					<string>RoundRect</string>
+					<key>Style</key>
+					<dict>
+						<key>fill</key>
+						<dict>
+							<key>Color</key>
+							<dict>
+								<key>b</key>
+								<string>1</string>
+								<key>g</key>
+								<string>0.814996</string>
+								<key>r</key>
+								<string>0.627106</string>
+							</dict>
+						</dict>
+					</dict>
+					<key>Text</key>
+					<dict>
+						<key>Text</key>
+						<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
+\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
+{\colortbl;\red255\green255\blue255;}
+\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc
+
+\f0\fs24 \cf0 Attitude Controller}</string>
+						<key>VerticalPad</key>
+						<integer>0</integer>
+					</dict>
+				</dict>
+				<dict>
+					<key>Bounds</key>
+					<string>{{138, 239}, {145, 62}}</string>
+					<key>Class</key>
+					<string>ShapedGraphic</string>
+					<key>FontInfo</key>
+					<dict>
+						<key>Font</key>
+						<string>Helvetica</string>
+						<key>Size</key>
+						<real>12</real>
+					</dict>
+					<key>ID</key>
+					<integer>9</integer>
+					<key>Shape</key>
+					<string>RoundRect</string>
+					<key>Style</key>
+					<dict>
+						<key>fill</key>
+						<dict>
+							<key>Color</key>
+							<dict>
+								<key>b</key>
+								<string>0.366082</string>
+								<key>g</key>
+								<string>0.639788</string>
+								<key>r</key>
+								<string>1</string>
+							</dict>
+						</dict>
+					</dict>
+					<key>Text</key>
+					<dict>
+						<key>Text</key>
+						<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
+\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
+{\colortbl;\red255\green255\blue255;}
+\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc
+
+\f0\fs24 \cf0 RC scaling and function mapping}</string>
+						<key>VerticalPad</key>
+						<integer>0</integer>
+					</dict>
+				</dict>
+				<dict>
+					<key>Bounds</key>
+					<string>{{138, 76}, {145, 62}}</string>
+					<key>Class</key>
+					<string>ShapedGraphic</string>
+					<key>FontInfo</key>
+					<dict>
+						<key>Font</key>
+						<string>Helvetica</string>
+						<key>Size</key>
+						<real>12</real>
+					</dict>
+					<key>ID</key>
+					<integer>8</integer>
+					<key>Shape</key>
+					<string>RoundRect</string>
+					<key>Style</key>
+					<dict>
+						<key>fill</key>
+						<dict>
+							<key>Color</key>
+							<dict>
+								<key>b</key>
+								<string>0.324773</string>
+								<key>g</key>
+								<string>0.632962</string>
+								<key>r</key>
+								<string>0.99252</string>
+							</dict>
+						</dict>
+					</dict>
+					<key>Text</key>
+					<dict>
+						<key>Text</key>
+						<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
+\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
+{\colortbl;\red255\green255\blue255;}
+\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc
+
+\f0\fs24 \cf0 RC Input\
+PX4IO or PX4FMU}</string>
+						<key>VerticalPad</key>
+						<integer>0</integer>
+					</dict>
+				</dict>
+				<dict>
+					<key>Bounds</key>
+					<string>{{108, 349.1875}, {205, 36}}</string>
+					<key>Class</key>
+					<string>ShapedGraphic</string>
+					<key>FontInfo</key>
+					<dict>
+						<key>Font</key>
+						<string>Helvetica</string>
+						<key>Size</key>
+						<real>12</real>
+					</dict>
+					<key>ID</key>
+					<integer>6</integer>
+					<key>Shape</key>
+					<string>Rectangle</string>
+					<key>Style</key>
+					<dict>
+						<key>stroke</key>
+						<dict>
+							<key>CornerRadius</key>
+							<real>9</real>
+						</dict>
+					</dict>
+					<key>Text</key>
+					<dict>
+						<key>Text</key>
+						<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
+\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
+{\colortbl;\red255\green255\blue255;}
+\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc
+
+\f0\i\fs24 \cf0 MANUAL_CONTROL_SETPOINT}</string>
+					</dict>
+				</dict>
+				<dict>
+					<key>Bounds</key>
+					<string>{{340, 252}, {115, 36}}</string>
+					<key>Class</key>
+					<string>ShapedGraphic</string>
+					<key>FontInfo</key>
+					<dict>
+						<key>Font</key>
+						<string>Helvetica</string>
+						<key>Size</key>
+						<real>12</real>
+					</dict>
+					<key>ID</key>
+					<integer>5</integer>
+					<key>Shape</key>
+					<string>Rectangle</string>
+					<key>Style</key>
+					<dict>
+						<key>stroke</key>
+						<dict>
+							<key>CornerRadius</key>
+							<real>9</real>
+						</dict>
+					</dict>
+					<key>Text</key>
+					<dict>
+						<key>Text</key>
+						<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
+\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
+{\colortbl;\red255\green255\blue255;}
+\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc
+
+\f0\i\fs24 \cf0 RC_CHANNELS}</string>
+					</dict>
+				</dict>
+				<dict>
+					<key>Bounds</key>
+					<string>{{108, 170.5}, {204.97958374023438, 36}}</string>
+					<key>Class</key>
+					<string>ShapedGraphic</string>
+					<key>FontInfo</key>
+					<dict>
+						<key>Font</key>
+						<string>Helvetica</string>
+						<key>Size</key>
+						<real>12</real>
+					</dict>
+					<key>ID</key>
+					<integer>4</integer>
+					<key>Shape</key>
+					<string>Rectangle</string>
+					<key>Style</key>
+					<dict>
+						<key>stroke</key>
+						<dict>
+							<key>CornerRadius</key>
+							<real>9</real>
+						</dict>
+					</dict>
+					<key>Text</key>
+					<dict>
+						<key>Text</key>
+						<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
+\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
+{\colortbl;\red255\green255\blue255;}
+\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc
+
+\f0\i\fs24 \cf0 INPUT_RC}</string>
+					</dict>
+				</dict>
+			</array>
+			<key>GridInfo</key>
+			<dict/>
+			<key>HPages</key>
+			<integer>1</integer>
+			<key>KeepToScale</key>
+			<false/>
+			<key>Layers</key>
+			<array>
+				<dict>
+					<key>Lock</key>
+					<string>NO</string>
+					<key>Name</key>
+					<string>Layer 1</string>
+					<key>Print</key>
+					<string>YES</string>
+					<key>View</key>
+					<string>YES</string>
+				</dict>
+			</array>
+			<key>LayoutInfo</key>
+			<dict>
+				<key>Animate</key>
+				<string>NO</string>
+				<key>circoMinDist</key>
+				<real>18</real>
+				<key>circoSeparation</key>
+				<real>0.0</real>
+				<key>layoutEngine</key>
+				<string>dot</string>
+				<key>neatoSeparation</key>
+				<real>0.0</real>
+				<key>twopiSeparation</key>
+				<real>0.0</real>
+			</dict>
+			<key>Orientation</key>
+			<integer>2</integer>
+			<key>PrintOnePage</key>
+			<false/>
+			<key>RowAlign</key>
+			<integer>1</integer>
+			<key>RowSpacing</key>
+			<real>36</real>
+			<key>SheetTitle</key>
+			<string>Canvas 1</string>
+			<key>UniqueID</key>
+			<integer>1</integer>
+			<key>VPages</key>
+			<integer>1</integer>
+		</dict>
+		<dict>
+			<key>ActiveLayerIndex</key>
+			<integer>0</integer>
+			<key>AutoAdjust</key>
+			<true/>
+			<key>BackgroundGraphic</key>
+			<dict>
+				<key>Bounds</key>
+				<string>{{0, 0}, {806, 1132}}</string>
+				<key>Class</key>
+				<string>SolidGraphic</string>
+				<key>ID</key>
+				<integer>2</integer>
+				<key>Style</key>
+				<dict>
+					<key>shadow</key>
+					<dict>
+						<key>Draws</key>
+						<string>NO</string>
+					</dict>
+					<key>stroke</key>
+					<dict>
+						<key>Draws</key>
+						<string>NO</string>
+					</dict>
+				</dict>
+			</dict>
+			<key>BaseZoom</key>
+			<integer>0</integer>
+			<key>CanvasOrigin</key>
+			<string>{0, 0}</string>
+			<key>ColumnAlign</key>
+			<integer>1</integer>
+			<key>ColumnSpacing</key>
+			<real>36</real>
+			<key>DisplayScale</key>
+			<string>1 0/72 in = 1.0000 in</string>
+			<key>GraphicsList</key>
+			<array>
+				<dict>
+					<key>Bounds</key>
+					<string>{{129, 170}, {83, 44}}</string>
+					<key>Class</key>
+					<string>ShapedGraphic</string>
+					<key>ID</key>
+					<integer>4</integer>
+					<key>Shape</key>
+					<string>Rectangle</string>
+					<key>Style</key>
+					<dict>
+						<key>stroke</key>
+						<dict>
+							<key>CornerRadius</key>
+							<real>9</real>
+						</dict>
+					</dict>
+				</dict>
+			</array>
+			<key>GridInfo</key>
+			<dict/>
+			<key>HPages</key>
+			<integer>1</integer>
+			<key>KeepToScale</key>
+			<false/>
+			<key>Layers</key>
+			<array>
+				<dict>
+					<key>Lock</key>
+					<string>NO</string>
+					<key>Name</key>
+					<string>Layer 1</string>
+					<key>Print</key>
+					<string>YES</string>
+					<key>View</key>
+					<string>YES</string>
+				</dict>
+			</array>
+			<key>LayoutInfo</key>
+			<dict>
+				<key>Animate</key>
+				<string>NO</string>
+				<key>circoMinDist</key>
+				<real>18</real>
+				<key>circoSeparation</key>
+				<real>0.0</real>
+				<key>layoutEngine</key>
+				<string>dot</string>
+				<key>neatoSeparation</key>
+				<real>0.0</real>
+				<key>twopiSeparation</key>
+				<real>0.0</real>
+			</dict>
+			<key>Orientation</key>
+			<integer>2</integer>
+			<key>PrintOnePage</key>
+			<false/>
+			<key>RowAlign</key>
+			<integer>1</integer>
+			<key>RowSpacing</key>
+			<real>36</real>
+			<key>SheetTitle</key>
+			<string>Remote Control</string>
+			<key>UniqueID</key>
+			<integer>5</integer>
+			<key>VPages</key>
+			<integer>1</integer>
+		</dict>
+		<dict>
+			<key>ActiveLayerIndex</key>
+			<integer>0</integer>
+			<key>AutoAdjust</key>
+			<true/>
+			<key>BackgroundGraphic</key>
+			<dict>
+				<key>Bounds</key>
+				<string>{{0, 0}, {806, 1132}}</string>
+				<key>Class</key>
+				<string>SolidGraphic</string>
+				<key>ID</key>
+				<integer>2</integer>
+				<key>Style</key>
+				<dict>
+					<key>shadow</key>
+					<dict>
+						<key>Draws</key>
+						<string>NO</string>
+					</dict>
+					<key>stroke</key>
+					<dict>
+						<key>Draws</key>
+						<string>NO</string>
+					</dict>
+				</dict>
+			</dict>
+			<key>BaseZoom</key>
+			<integer>0</integer>
+			<key>CanvasOrigin</key>
+			<string>{0, 0}</string>
+			<key>ColumnAlign</key>
+			<integer>1</integer>
+			<key>ColumnSpacing</key>
+			<real>36</real>
+			<key>DisplayScale</key>
+			<string>1 0/72 in = 1.0000 in</string>
+			<key>GraphicsList</key>
+			<array>
+				<dict>
+					<key>Class</key>
+					<string>Group</string>
+					<key>Graphics</key>
+					<array>
+						<dict>
+							<key>Bounds</key>
+							<string>{{575.98995971679688, 379}, {47, 14}}</string>
+							<key>Class</key>
+							<string>ShapedGraphic</string>
+							<key>FitText</key>
+							<string>YES</string>
+							<key>Flow</key>
+							<string>Resize</string>
+							<key>ID</key>
+							<integer>1124</integer>
+							<key>Shape</key>
+							<string>Rectangle</string>
+							<key>Style</key>
+							<dict>
+								<key>fill</key>
+								<dict>
+									<key>Draws</key>
+									<string>NO</string>
+								</dict>
+								<key>shadow</key>
+								<dict>
+									<key>Draws</key>
+									<string>NO</string>
+								</dict>
+								<key>stroke</key>
+								<dict>
+									<key>Draws</key>
+									<string>NO</string>
+								</dict>
+							</dict>
+							<key>Text</key>
+							<dict>
+								<key>Pad</key>
+								<integer>0</integer>
+								<key>Text</key>
+								<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
+\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
+{\colortbl;\red255\green255\blue255;}
+\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc
+
+\f0\b\fs24 \cf0 QUAD
+\b0  X}</string>
+								<key>VerticalPad</key>
+								<integer>0</integer>
+							</dict>
+							<key>Wrap</key>
+							<string>NO</string>
+						</dict>
+						<dict>
+							<key>Class</key>
+							<string>Group</string>
+							<key>Graphics</key>
+							<array>
+								<dict>
+									<key>Bounds</key>
+									<string>{{576.13064904528869, 216.6250047923653}, {50.666667938232422, 36}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1126</integer>
+									<key>Rotation</key>
+									<real>270</real>
+									<key>Shape</key>
+									<string>HorizontalTriangle</string>
+									<key>Style</key>
+									<dict>
+										<key>fill</key>
+										<dict>
+											<key>Color</key>
+											<dict>
+												<key>b</key>
+												<string>0.13195</string>
+												<key>g</key>
+												<string>0.165669</string>
+												<key>r</key>
+												<string>1</string>
+											</dict>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>VerticalPad</key>
+										<integer>0</integer>
+									</dict>
+								</dict>
+								<dict>
+									<key>Bounds</key>
+									<string>{{565.46398168220912, 200.5990128790099}, {72, 72}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1127</integer>
+									<key>Shape</key>
+									<string>Rectangle</string>
+									<key>Style</key>
+									<dict>
+										<key>stroke</key>
+										<dict>
+											<key>CornerRadius</key>
+											<real>9</real>
+										</dict>
+									</dict>
+								</dict>
+							</array>
+							<key>ID</key>
+							<integer>1125</integer>
+							<key>Rotation</key>
+							<real>315</real>
+						</dict>
+						<dict>
+							<key>Class</key>
+							<string>Group</string>
+							<key>Graphics</key>
+							<array>
+								<dict>
+									<key>Bounds</key>
+									<string>{{684.97877057518497, 320.1208883952101}, {24, 24}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1129</integer>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>Text</key>
+										<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
+\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
+{\colortbl;\red255\green255\blue255;}
+\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc
+
+\f0\fs24 \cf0 4}</string>
+										<key>VerticalPad</key>
+										<integer>0</integer>
+									</dict>
+								</dict>
+								<dict>
+									<key>Class</key>
+									<string>Group</string>
+									<key>Graphics</key>
+									<array>
+										<dict>
+											<key>Class</key>
+											<string>LineGraphic</string>
+											<key>ID</key>
+											<integer>1131</integer>
+											<key>Points</key>
+											<array>
+												<string>{744.59415627118847, 308.1935744741462}</string>
+												<string>{742.38444757998036, 309.34262299357425}</string>
+											</array>
+											<key>Style</key>
+											<dict>
+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
+												</dict>
+											</dict>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{656.69108999710829, 361.8760779997491}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1132</integer>
+											<key>Rotation</key>
+											<real>45</real>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{646.29122523639319, 281.66198172978545}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1133</integer>
+											<key>Rotation</key>
+											<real>135</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{643.54122523639319, 278.91198172978545}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1134</integer>
+											<key>Rotation</key>
+											<real>135</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+										</dict>
+									</array>
+									<key>ID</key>
+									<integer>1130</integer>
+									<key>Rotation</key>
+									<real>315</real>
+								</dict>
+								<dict>
+									<key>Class</key>
+									<string>Group</string>
+									<key>Graphics</key>
+									<array>
+										<dict>
+											<key>Class</key>
+											<string>LineGraphic</string>
+											<key>ID</key>
+											<integer>1136</integer>
+											<key>Points</key>
+											<array>
+												<string>{649.54722336322868, 356.21791362626482}</string>
+												<string>{651.75693205443667, 355.0688651068366}</string>
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+											<key>Style</key>
+											<dict>
+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
+												</dict>
+											</dict>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{721.45028963730863, 284.03541010066203}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1137</integer>
+											<key>Rotation</key>
+											<real>225</real>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{646.35015439802385, 281.24950637062551}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1138</integer>
+											<key>Rotation</key>
+											<real>315</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{643.60015439802385, 278.49950637062551}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1139</integer>
+											<key>Rotation</key>
+											<real>315</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+										</dict>
+									</array>
+									<key>ID</key>
+									<integer>1135</integer>
+									<key>Rotation</key>
+									<real>315</real>
+								</dict>
+								<dict>
+									<key>Bounds</key>
+									<string>{{646.0670873832953, 281.20919655324775}, {101.82337649086284, 101.82337649086284}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1140</integer>
+									<key>Rotation</key>
+									<real>315</real>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>fill</key>
+										<dict>
+											<key>Color</key>
+											<dict>
+												<key>a</key>
+												<string>0.78</string>
+												<key>b</key>
+												<string>0.234512</string>
+												<key>g</key>
+												<string>0.673128</string>
+												<key>r</key>
+												<string>0.148947</string>
+											</dict>
+										</dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+										<key>stroke</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>VerticalPad</key>
+										<integer>0</integer>
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+								</dict>
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+							<key>ID</key>
+							<integer>1128</integer>
+							<key>Rotation</key>
+							<real>315</real>
+						</dict>
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+							<key>Class</key>
+							<string>Group</string>
+							<key>Graphics</key>
+							<array>
+								<dict>
+									<key>Bounds</key>
+									<string>{{494.01518801866729, 320.05486147948341}, {24, 24}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1142</integer>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>Text</key>
+										<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
+\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
+{\colortbl;\red255\green255\blue255;}
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+\f0\fs24 \cf0 2}</string>
+										<key>VerticalPad</key>
+										<integer>0</integer>
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+									<string>YES</string>
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+								<dict>
+									<key>Class</key>
+									<string>Group</string>
+									<key>Graphics</key>
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+										<dict>
+											<key>Class</key>
+											<string>LineGraphic</string>
+											<key>ID</key>
+											<integer>1144</integer>
+											<key>Points</key>
+											<array>
+												<string>{458.75335031844725, 307.77399956263616}</string>
+												<string>{460.96305900965541, 308.92304808206421}</string>
+											</array>
+											<key>Style</key>
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+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
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+											</dict>
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+										<dict>
+											<key>Bounds</key>
+											<string>{{530.65641659252742, 361.45650308823895}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1145</integer>
+											<key>Rotation</key>
+											<real>135</real>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{455.55628135324292, 281.24240681827519}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1146</integer>
+											<key>Rotation</key>
+											<real>45</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{452.80628135324292, 278.49240681827519}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1147</integer>
+											<key>Rotation</key>
+											<real>45</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
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+									<key>ID</key>
+									<integer>1143</integer>
+									<key>Rotation</key>
+									<real>225</real>
+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+								<dict>
+									<key>Class</key>
+									<string>Group</string>
+									<key>Graphics</key>
+									<array>
+										<dict>
+											<key>Class</key>
+											<string>LineGraphic</string>
+											<key>ID</key>
+											<integer>1149</integer>
+											<key>Points</key>
+											<array>
+												<string>{553.44673702887792, 356.15188491228344}</string>
+												<string>{551.23702833767004, 355.00283639285527}</string>
+											</array>
+											<key>Style</key>
+											<dict>
+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
+												</dict>
+											</dict>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{465.54367075479814, 283.96938138668088}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1150</integer>
+											<key>Rotation</key>
+											<real>315</real>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{455.14380599408253, 281.1834776566443}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1151</integer>
+											<key>Rotation</key>
+											<real>225</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{452.39380599408253, 278.4334776566443}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1152</integer>
+											<key>Rotation</key>
+											<real>225</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+									</array>
+									<key>ID</key>
+									<integer>1148</integer>
+									<key>Rotation</key>
+									<real>225</real>
+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+								<dict>
+									<key>Bounds</key>
+									<string>{{455.10349617670488, 281.1431681805102}, {101.82337649086284, 101.82337649086284}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1153</integer>
+									<key>Rotation</key>
+									<real>225</real>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>fill</key>
+										<dict>
+											<key>Color</key>
+											<dict>
+												<key>a</key>
+												<string>0.78</string>
+												<key>b</key>
+												<string>0.673128</string>
+												<key>g</key>
+												<string>0.534129</string>
+												<key>r</key>
+												<string>0.217952</string>
+											</dict>
+										</dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+										<key>stroke</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>VerticalPad</key>
+										<integer>0</integer>
+									</dict>
+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+							</array>
+							<key>ID</key>
+							<integer>1141</integer>
+							<key>Rotation</key>
+							<real>315</real>
+						</dict>
+						<dict>
+							<key>Class</key>
+							<string>Group</string>
+							<key>Graphics</key>
+							<array>
+								<dict>
+									<key>Bounds</key>
+									<string>{{684.74305392865585, 129.32699556949493}, {24, 24}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1155</integer>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>Text</key>
+										<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
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+
+\f0\fs24 \cf0 1}</string>
+										<key>VerticalPad</key>
+										<integer>0</integer>
+									</dict>
+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+								<dict>
+									<key>Class</key>
+									<string>Group</string>
+									<key>Graphics</key>
+									<array>
+										<dict>
+											<key>Class</key>
+											<string>LineGraphic</string>
+											<key>ID</key>
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+											<key>Points</key>
+											<array>
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+												<string>{651.69092491964352, 118.19518217207589}</string>
+											</array>
+											<key>Style</key>
+											<dict>
+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
+												</dict>
+											</dict>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{721.38428250251582, 170.72863717825052}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1158</integer>
+											<key>Rotation</key>
+											<real>135</real>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{646.28414726323126, 90.514540908286847}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1159</integer>
+											<key>Rotation</key>
+											<real>45</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{643.53414726323126, 87.764540908286847}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1160</integer>
+											<key>Rotation</key>
+											<real>45</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+									</array>
+									<key>ID</key>
+									<integer>1156</integer>
+									<key>Rotation</key>
+									<real>225</real>
+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+								<dict>
+									<key>Class</key>
+									<string>Group</string>
+									<key>Graphics</key>
+									<array>
+										<dict>
+											<key>Class</key>
+											<string>LineGraphic</string>
+											<key>ID</key>
+											<integer>1162</integer>
+											<key>Points</key>
+											<array>
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+												<string>{741.96489424765866, 164.27497048286693}</string>
+											</array>
+											<key>Style</key>
+											<dict>
+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
+												</dict>
+											</dict>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{656.27153666478659, 93.241515476692427}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1163</integer>
+											<key>Rotation</key>
+											<real>315</real>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{645.87167190407115, 90.455611746655876}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1164</integer>
+											<key>Rotation</key>
+											<real>225</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{643.12167190407115, 87.705611746655876}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1165</integer>
+											<key>Rotation</key>
+											<real>225</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+									</array>
+									<key>ID</key>
+									<integer>1161</integer>
+									<key>Rotation</key>
+									<real>225</real>
+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+								<dict>
+									<key>Bounds</key>
+									<string>{{645.83136208669339, 90.415302270521892}, {101.82337649086284, 101.82337649086284}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1166</integer>
+									<key>Rotation</key>
+									<real>225</real>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>fill</key>
+										<dict>
+											<key>Color</key>
+											<dict>
+												<key>a</key>
+												<string>0.78</string>
+												<key>b</key>
+												<string>0.673128</string>
+												<key>g</key>
+												<string>0.534129</string>
+												<key>r</key>
+												<string>0.217952</string>
+											</dict>
+										</dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+										<key>stroke</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>VerticalPad</key>
+										<integer>0</integer>
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+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+							</array>
+							<key>ID</key>
+							<integer>1154</integer>
+							<key>Rotation</key>
+							<real>315</real>
+						</dict>
+						<dict>
+							<key>Class</key>
+							<string>Group</string>
+							<key>Graphics</key>
+							<array>
+								<dict>
+									<key>Bounds</key>
+									<string>{{494.00811680064464, 129.15022794494948}, {24, 24}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1168</integer>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>Text</key>
+										<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
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+
+\f0\fs24 \cf0 3}</string>
+										<key>VerticalPad</key>
+										<integer>0</integer>
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+									<key>Class</key>
+									<string>Group</string>
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+										<dict>
+											<key>Class</key>
+											<string>LineGraphic</string>
+											<key>ID</key>
+											<integer>1170</integer>
+											<key>Points</key>
+											<array>
+												<string>{553.62350249664826, 117.22291402388569}</string>
+												<string>{551.41379380544015, 118.37196254331369}</string>
+											</array>
+											<key>Style</key>
+											<dict>
+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
+												</dict>
+											</dict>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{465.72043622256808, 170.9054175494887}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1171</integer>
+											<key>Rotation</key>
+											<real>45</real>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{455.32057146185286, 90.691321279524772}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1172</integer>
+											<key>Rotation</key>
+											<real>135</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
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+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{452.57057146185286, 87.941321279524772}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1173</integer>
+											<key>Rotation</key>
+											<real>135</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
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+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+										</dict>
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+									<key>ID</key>
+									<integer>1169</integer>
+									<key>Rotation</key>
+									<real>315</real>
+								</dict>
+								<dict>
+									<key>Class</key>
+									<string>Group</string>
+									<key>Graphics</key>
+									<array>
+										<dict>
+											<key>Class</key>
+											<string>LineGraphic</string>
+											<key>ID</key>
+											<integer>1175</integer>
+											<key>Points</key>
+											<array>
+												<string>{458.57656958868847, 165.24725317600405}</string>
+												<string>{460.78627827989641, 164.09820465657594}</string>
+											</array>
+											<key>Style</key>
+											<dict>
+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
+												</dict>
+											</dict>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{530.47963586276819, 93.064749650401353}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1176</integer>
+											<key>Rotation</key>
+											<real>225</real>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{455.37950062348352, 90.278845920365001}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1177</integer>
+											<key>Rotation</key>
+											<real>315</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{452.62950062348352, 87.528845920365001}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1178</integer>
+											<key>Rotation</key>
+											<real>315</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+										</dict>
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+									<key>ID</key>
+									<integer>1174</integer>
+									<key>Rotation</key>
+									<real>315</real>
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+								<dict>
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+									<string>{{455.09643360875504, 90.238536102987126}, {101.82337649086284, 101.82337649086284}}</string>
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+									<key>ID</key>
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+									<key>Rotation</key>
+									<real>315</real>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>fill</key>
+										<dict>
+											<key>Color</key>
+											<dict>
+												<key>a</key>
+												<string>0.78</string>
+												<key>b</key>
+												<string>0.234512</string>
+												<key>g</key>
+												<string>0.673128</string>
+												<key>r</key>
+												<string>0.148947</string>
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+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+										<key>stroke</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>VerticalPad</key>
+										<integer>0</integer>
+									</dict>
+								</dict>
+							</array>
+							<key>ID</key>
+							<integer>1167</integer>
+							<key>Rotation</key>
+							<real>315</real>
+						</dict>
+						<dict>
+							<key>Bounds</key>
+							<string>{{547.25939156789127, 219.8035943432547}, {8, 134}}</string>
+							<key>Class</key>
+							<string>ShapedGraphic</string>
+							<key>ID</key>
+							<integer>1180</integer>
+							<key>Rotation</key>
+							<real>225</real>
+							<key>Shape</key>
+							<string>Rectangle</string>
+						</dict>
+						<dict>
+							<key>Bounds</key>
+							<string>{{647.66855809291212, 119.39442062517122}, {8, 134}}</string>
+							<key>Class</key>
+							<string>ShapedGraphic</string>
+							<key>ID</key>
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+							<key>Rotation</key>
+							<real>225</real>
+							<key>Shape</key>
+							<string>Rectangle</string>
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+						<dict>
+							<key>Bounds</key>
+							<string>{{647.66855089985006, 219.80357636059938}, {8, 134}}</string>
+							<key>Class</key>
+							<string>ShapedGraphic</string>
+							<key>ID</key>
+							<integer>1182</integer>
+							<key>Rotation</key>
+							<real>315</real>
+							<key>Shape</key>
+							<string>Rectangle</string>
+						</dict>
+						<dict>
+							<key>Bounds</key>
+							<string>{{547.20046240626141, 119.33550225313491}, {8, 134}}</string>
+							<key>Class</key>
+							<string>ShapedGraphic</string>
+							<key>ID</key>
+							<integer>1183</integer>
+							<key>Rotation</key>
+							<real>315</real>
+							<key>Shape</key>
+							<string>Rectangle</string>
+						</dict>
+					</array>
+					<key>ID</key>
+					<integer>1123</integer>
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+					<string>{{287.14883422851562, 373}, {46, 14}}</string>
+					<key>Class</key>
+					<string>ShapedGraphic</string>
+					<key>FitText</key>
+					<string>YES</string>
+					<key>Flow</key>
+					<string>Resize</string>
+					<key>ID</key>
+					<integer>1121</integer>
+					<key>Shape</key>
+					<string>Rectangle</string>
+					<key>Style</key>
+					<dict>
+						<key>fill</key>
+						<dict>
+							<key>Draws</key>
+							<string>NO</string>
+						</dict>
+						<key>shadow</key>
+						<dict>
+							<key>Draws</key>
+							<string>NO</string>
+						</dict>
+						<key>stroke</key>
+						<dict>
+							<key>Draws</key>
+							<string>NO</string>
+						</dict>
+					</dict>
+					<key>Text</key>
+					<dict>
+						<key>Pad</key>
+						<integer>0</integer>
+						<key>Text</key>
+						<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
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+
+\f0\b\fs24 \cf0 QUAD
+\b0  +}</string>
+						<key>VerticalPad</key>
+						<integer>0</integer>
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+					<key>Wrap</key>
+					<string>NO</string>
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+				<dict>
+					<key>Class</key>
+					<string>Group</string>
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+									<string>{{252.93672553699014, 864.96332065264312}, {24, 24}}</string>
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+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1186</integer>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>Text</key>
+										<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
+\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
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+
+\f0\fs24 \cf0 6}</string>
+										<key>VerticalPad</key>
+										<integer>0</integer>
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+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+								<dict>
+									<key>Class</key>
+									<string>Group</string>
+									<key>Graphics</key>
+									<array>
+										<dict>
+											<key>Class</key>
+											<string>LineGraphic</string>
+											<key>ID</key>
+											<integer>1188</integer>
+											<key>Points</key>
+											<array>
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+												<string>{249.43672172228361, 828.7499926090228}</string>
+											</array>
+											<key>Style</key>
+											<dict>
+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
+												</dict>
+											</dict>
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+										<dict>
+											<key>Bounds</key>
+											<string>{{252.68672172228372, 918.12499260902291}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1189</integer>
+											<key>Rotation</key>
+											<real>180</real>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{214.43672172228372, 826.3749926090228}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1190</integer>
+											<key>Rotation</key>
+											<real>90</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{211.68672172228372, 823.6249926090228}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1191</integer>
+											<key>Rotation</key>
+											<real>90</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+									</array>
+									<key>ID</key>
+									<integer>1187</integer>
+									<key>Rotation</key>
+									<real>270</real>
+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+								<dict>
+									<key>Class</key>
+									<string>Group</string>
+									<key>Graphics</key>
+									<array>
+										<dict>
+											<key>Class</key>
+											<string>LineGraphic</string>
+											<key>ID</key>
+											<integer>1193</integer>
+											<key>Points</key>
+											<array>
+												<string>{281.43672680854809, 927.54165927568897}</string>
+												<string>{280.6867268085482, 925.1666592756892}</string>
+											</array>
+											<key>Style</key>
+											<dict>
+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
+												</dict>
+											</dict>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{261.43672680854797, 817.2916592756892}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1194</integer>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{214.18672680854797, 826.0416592756892}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1195</integer>
+											<key>Rotation</key>
+											<real>270</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{211.43672680854797, 823.2916592756892}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1196</integer>
+											<key>Rotation</key>
+											<real>270</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+									</array>
+									<key>ID</key>
+									<integer>1192</integer>
+									<key>Rotation</key>
+									<real>270</real>
+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+								<dict>
+									<key>Bounds</key>
+									<string>{{214.02503832182103, 826.05162629068673}, {101.82337649086284, 101.82337649086284}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1197</integer>
+									<key>Rotation</key>
+									<real>270</real>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>fill</key>
+										<dict>
+											<key>Color</key>
+											<dict>
+												<key>a</key>
+												<string>0.78</string>
+												<key>b</key>
+												<string>0.673128</string>
+												<key>g</key>
+												<string>0.534129</string>
+												<key>r</key>
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+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+										<key>stroke</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
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+										<integer>0</integer>
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+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
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+							<key>ID</key>
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+						<dict>
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+							<key>Graphics</key>
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+									<string>ShapedGraphic</string>
+									<key>ID</key>
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+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>Text</key>
+										<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
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+								<dict>
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+									<string>Group</string>
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+												<string>{252.43670908609892, 600.16668701171886}</string>
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+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
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+											<string>ShapedGraphic</string>
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+											<string>YES</string>
+											<key>ID</key>
+											<integer>1202</integer>
+											<key>Rotation</key>
+											<real>180</real>
+											<key>Shape</key>
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+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
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+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
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+											<key>VFlip</key>
+											<string>YES</string>
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+										<dict>
+											<key>Bounds</key>
+											<string>{{217.43670908609903, 597.79168701171886}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
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+											<string>YES</string>
+											<key>ID</key>
+											<integer>1203</integer>
+											<key>Rotation</key>
+											<real>90</real>
+											<key>Shape</key>
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+											<key>ShapeData</key>
+											<dict>
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+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
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+										<dict>
+											<key>Bounds</key>
+											<string>{{214.68670908609903, 595.04168701171886}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1204</integer>
+											<key>Rotation</key>
+											<real>90</real>
+											<key>Shape</key>
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+											<key>ShapeData</key>
+											<dict>
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+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
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+											</dict>
+											<key>Text</key>
+											<dict>
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+												<integer>0</integer>
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+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
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+									<integer>1200</integer>
+									<key>Rotation</key>
+									<real>270</real>
+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+								<dict>
+									<key>Class</key>
+									<string>Group</string>
+									<key>Graphics</key>
+									<array>
+										<dict>
+											<key>Class</key>
+											<string>LineGraphic</string>
+											<key>ID</key>
+											<integer>1206</integer>
+											<key>Points</key>
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+												<string>{283.68671417236351, 696.58335367838527}</string>
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+											<dict>
+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
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+											</dict>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{264.43671417236328, 588.70835367838527}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1207</integer>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>VFlip</key>
+											<string>YES</string>
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+										<dict>
+											<key>Bounds</key>
+											<string>{{217.18671417236328, 597.45835367838527}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1208</integer>
+											<key>Rotation</key>
+											<real>270</real>
+											<key>Shape</key>
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+											<key>ShapeData</key>
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+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{214.43671417236328, 594.70835367838527}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1209</integer>
+											<key>Rotation</key>
+											<real>270</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
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+									<key>ID</key>
+									<integer>1205</integer>
+									<key>Rotation</key>
+									<real>270</real>
+									<key>VFlip</key>
+									<string>YES</string>
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+								<dict>
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+									<string>{{217.02502568563636, 597.46832069338279}, {101.82337649086284, 101.82337649086284}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1210</integer>
+									<key>Rotation</key>
+									<real>270</real>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>fill</key>
+										<dict>
+											<key>Color</key>
+											<dict>
+												<key>a</key>
+												<string>0.78</string>
+												<key>b</key>
+												<string>0.673128</string>
+												<key>g</key>
+												<string>0.534129</string>
+												<key>r</key>
+												<string>0.217952</string>
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+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
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+										<key>stroke</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>VerticalPad</key>
+										<integer>0</integer>
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+									<key>VFlip</key>
+									<string>YES</string>
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+							<integer>1198</integer>
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+						<dict>
+							<key>Class</key>
+							<string>Group</string>
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+							<array>
+								<dict>
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+									<string>{{480.49999872844216, 864.96333555380545}, {24, 24}}</string>
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+									<string>ShapedGraphic</string>
+									<key>ID</key>
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+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>Text</key>
+										<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
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+
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+									<key>Class</key>
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+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
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+										<dict>
+											<key>Bounds</key>
+											<string>{{480.24999491373575, 918.12500751018524}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1215</integer>
+											<key>Rotation</key>
+											<real>180</real>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
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+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>VFlip</key>
+											<string>YES</string>
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+										<dict>
+											<key>Bounds</key>
+											<string>{{441.99999491373575, 826.37500751018513}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1216</integer>
+											<key>Rotation</key>
+											<real>90</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
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+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
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+										<dict>
+											<key>Bounds</key>
+											<string>{{439.24999491373575, 823.62500751018513}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1217</integer>
+											<key>Rotation</key>
+											<real>90</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
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+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
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+									<key>ID</key>
+									<integer>1213</integer>
+									<key>Rotation</key>
+									<real>270</real>
+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+								<dict>
+									<key>Class</key>
+									<string>Group</string>
+									<key>Graphics</key>
+									<array>
+										<dict>
+											<key>Class</key>
+											<string>LineGraphic</string>
+											<key>ID</key>
+											<integer>1219</integer>
+											<key>Points</key>
+											<array>
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+												<string>{508.25000000000023, 925.16667417685153}</string>
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+											<dict>
+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
+												</dict>
+											</dict>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{489, 817.29167417685153}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1220</integer>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{441.75, 826.04167417685153}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1221</integer>
+											<key>Rotation</key>
+											<real>270</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{439, 823.29167417685153}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1222</integer>
+											<key>Rotation</key>
+											<real>270</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+									</array>
+									<key>ID</key>
+									<integer>1218</integer>
+									<key>Rotation</key>
+									<real>270</real>
+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+								<dict>
+									<key>Bounds</key>
+									<string>{{441.58831151327308, 826.05164119184906}, {101.82337649086284, 101.82337649086284}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1223</integer>
+									<key>Rotation</key>
+									<real>270</real>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>fill</key>
+										<dict>
+											<key>Color</key>
+											<dict>
+												<key>a</key>
+												<string>0.78</string>
+												<key>b</key>
+												<string>0.673128</string>
+												<key>g</key>
+												<string>0.534129</string>
+												<key>r</key>
+												<string>0.217952</string>
+											</dict>
+										</dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+										<key>stroke</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>VerticalPad</key>
+										<integer>0</integer>
+									</dict>
+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+							</array>
+							<key>ID</key>
+							<integer>1211</integer>
+						</dict>
+						<dict>
+							<key>Class</key>
+							<string>Group</string>
+							<key>Graphics</key>
+							<array>
+								<dict>
+									<key>Bounds</key>
+									<string>{{480.49999872844216, 636.38001505533896}, {24, 24}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1225</integer>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>Text</key>
+										<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
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+
+\f0\fs24 \cf0 3}</string>
+										<key>VerticalPad</key>
+										<integer>0</integer>
+									</dict>
+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+								<dict>
+									<key>Class</key>
+									<string>Group</string>
+									<key>Graphics</key>
+									<array>
+										<dict>
+											<key>Class</key>
+											<string>LineGraphic</string>
+											<key>ID</key>
+											<integer>1227</integer>
+											<key>Points</key>
+											<array>
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+												<string>{476.99999491373563, 600.16668701171864}</string>
+											</array>
+											<key>Style</key>
+											<dict>
+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
+												</dict>
+											</dict>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{480.24999491373575, 689.54168701171875}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1228</integer>
+											<key>Rotation</key>
+											<real>180</real>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{441.99999491373575, 597.79168701171864}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1229</integer>
+											<key>Rotation</key>
+											<real>90</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{439.24999491373575, 595.04168701171864}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1230</integer>
+											<key>Rotation</key>
+											<real>90</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+									</array>
+									<key>ID</key>
+									<integer>1226</integer>
+									<key>Rotation</key>
+									<real>270</real>
+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+								<dict>
+									<key>Class</key>
+									<string>Group</string>
+									<key>Graphics</key>
+									<array>
+										<dict>
+											<key>Class</key>
+											<string>LineGraphic</string>
+											<key>ID</key>
+											<integer>1232</integer>
+											<key>Points</key>
+											<array>
+												<string>{509.00000000000011, 698.95835367838481}</string>
+												<string>{508.25000000000023, 696.58335367838504}</string>
+											</array>
+											<key>Style</key>
+											<dict>
+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
+												</dict>
+											</dict>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{489, 588.70835367838504}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1233</integer>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{441.75, 597.45835367838504}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1234</integer>
+											<key>Rotation</key>
+											<real>270</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{439, 594.70835367838504}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1235</integer>
+											<key>Rotation</key>
+											<real>270</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+									</array>
+									<key>ID</key>
+									<integer>1231</integer>
+									<key>Rotation</key>
+									<real>270</real>
+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+								<dict>
+									<key>Bounds</key>
+									<string>{{441.58831151327308, 597.46832069338257}, {101.82337649086284, 101.82337649086284}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1236</integer>
+									<key>Rotation</key>
+									<real>270</real>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>fill</key>
+										<dict>
+											<key>Color</key>
+											<dict>
+												<key>a</key>
+												<string>0.78</string>
+												<key>b</key>
+												<string>0.673128</string>
+												<key>g</key>
+												<string>0.534129</string>
+												<key>r</key>
+												<string>0.217952</string>
+											</dict>
+										</dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+										<key>stroke</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>VerticalPad</key>
+										<integer>0</integer>
+									</dict>
+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+							</array>
+							<key>ID</key>
+							<integer>1224</integer>
+						</dict>
+						<dict>
+							<key>Bounds</key>
+							<string>{{452.7625732421875, 947.72591400146473}, {45, 14}}</string>
+							<key>Class</key>
+							<string>ShapedGraphic</string>
+							<key>FitText</key>
+							<string>YES</string>
+							<key>Flow</key>
+							<string>Resize</string>
+							<key>ID</key>
+							<integer>1237</integer>
+							<key>Shape</key>
+							<string>Rectangle</string>
+							<key>Style</key>
+							<dict>
+								<key>fill</key>
+								<dict>
+									<key>Draws</key>
+									<string>NO</string>
+								</dict>
+								<key>shadow</key>
+								<dict>
+									<key>Draws</key>
+									<string>NO</string>
+								</dict>
+								<key>stroke</key>
+								<dict>
+									<key>Draws</key>
+									<string>NO</string>
+								</dict>
+							</dict>
+							<key>Text</key>
+							<dict>
+								<key>Pad</key>
+								<integer>0</integer>
+								<key>Text</key>
+								<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
+\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
+{\colortbl;\red255\green255\blue255;}
+\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc
+
+\f0\b\fs24 \cf0 OCTO
+\b0  +}</string>
+								<key>VerticalPad</key>
+								<integer>0</integer>
+							</dict>
+							<key>Wrap</key>
+							<string>NO</string>
+						</dict>
+						<dict>
+							<key>Class</key>
+							<string>Group</string>
+							<key>Graphics</key>
+							<array>
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+									<key>Bounds</key>
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+										<dict>
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+									<key>Shape</key>
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+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
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+									</dict>
+									<key>Text</key>
+									<dict>
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+													<true/>
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+											<integer>1245</integer>
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+											<real>90</real>
+											<key>Shape</key>
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+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
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+											<string>ShapedGraphic</string>
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+											<string>YES</string>
+											<key>ID</key>
+											<integer>1246</integer>
+											<key>Rotation</key>
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+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
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+													<string>NO</string>
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+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
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+											</dict>
+											<key>Text</key>
+											<dict>
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+												<integer>0</integer>
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+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
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+											<string>ShapedGraphic</string>
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+											<string>YES</string>
+											<key>ID</key>
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+											<key>Rotation</key>
+											<real>180</real>
+											<key>Shape</key>
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+											<key>ShapeData</key>
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+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
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+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
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+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
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+											<key>Text</key>
+											<dict>
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+												<integer>0</integer>
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+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
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+											<string>LineGraphic</string>
+											<key>ID</key>
+											<integer>1249</integer>
+											<key>Points</key>
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+												<string>{330.63503011067723, 912.83333841959472}</string>
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+												<dict>
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+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
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+										<dict>
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+											<key>Class</key>
+											<string>ShapedGraphic</string>
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+											<string>YES</string>
+											<key>ID</key>
+											<integer>1250</integer>
+											<key>Rotation</key>
+											<real>270</real>
+											<key>Shape</key>
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+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
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+											</dict>
+											<key>Text</key>
+											<dict>
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+												<integer>0</integer>
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+										<dict>
+											<key>Bounds</key>
+											<string>{{328.26003011067723, 877.83333841959472}, {101.5, 101.5}}</string>
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+											<string>ShapedGraphic</string>
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+											<string>YES</string>
+											<key>ID</key>
+											<integer>1251</integer>
+											<key>Shape</key>
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+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
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+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
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+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
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+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
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+											<string>ShapedGraphic</string>
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+											<string>YES</string>
+											<key>ID</key>
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+											<key>Shape</key>
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+												<real>281</real>
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+											<key>Style</key>
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+												<key>fill</key>
+												<dict>
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+													<string>NO</string>
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+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
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+											<key>Text</key>
+											<dict>
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+												<integer>0</integer>
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+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
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+									<key>Shape</key>
+									<string>Circle</string>
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+												<string>0.673128</string>
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+												<string>0.148947</string>
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+											<string>NO</string>
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+										<key>stroke</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
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+									<key>Text</key>
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+									<string>ShapedGraphic</string>
+									<key>ID</key>
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+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
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+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
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+									</dict>
+									<key>Text</key>
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+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
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+											<string>ShapedGraphic</string>
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+											<string>YES</string>
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+											<real>90</real>
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+											<string>HorizontalTriangle</string>
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+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
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+											<key>Text</key>
+											<dict>
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+												<integer>0</integer>
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+											<string>ShapedGraphic</string>
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+													<string>NO</string>
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+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
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+											<key>Rotation</key>
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+												<real>281</real>
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+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
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+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
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+											<key>Text</key>
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+												<integer>0</integer>
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+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
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+											<string>LineGraphic</string>
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+												<string>{169.45833333333348, 746.7916819254541}</string>
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+											<dict>
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+												<dict>
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+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
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+										</dict>
+										<dict>
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+													<string>NO</string>
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+												<integer>0</integer>
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+											<string>ShapedGraphic</string>
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+											<key>Rotation</key>
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+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
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+													<string>NO</string>
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+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
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+											</dict>
+											<key>Text</key>
+											<dict>
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+												<integer>0</integer>
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+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
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+											<string>ShapedGraphic</string>
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+											<key>ID</key>
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+											<key>Rotation</key>
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+												<key>startAngle</key>
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+												<dict>
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+													<string>NO</string>
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+												<key>shadow</key>
+												<dict>
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+													<string>NO</string>
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+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
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+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
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+											<key>Text</key>
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+											<key>Shape</key>
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+												<key>startAngle</key>
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+											</dict>
+											<key>Style</key>
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+												<dict>
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+													<string>NO</string>
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+												<key>shadow</key>
+												<dict>
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+													<string>NO</string>
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+											<key>Text</key>
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+												<integer>0</integer>
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+											<key>TextRelativeArea</key>
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+											<string>ShapedGraphic</string>
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+										<dict>
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+											<key>Draws</key>
+											<string>NO</string>
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+													<true/>
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+											<string>ShapedGraphic</string>
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+											<real>90</real>
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+											<string>HorizontalTriangle</string>
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+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
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+												<integer>0</integer>
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+											<string>ShapedGraphic</string>
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+													<string>NO</string>
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+													<string>NO</string>
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+											<real>180</real>
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+													<string>NO</string>
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+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
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+												<string>{158.28161621093548, 364.69802856445312}</string>
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+													<true/>
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+													<string>0</string>
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+											<string>ShapedGraphic</string>
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+											<string>YES</string>
+											<key>ID</key>
+											<integer>1035</integer>
+											<key>Rotation</key>
+											<real>270</real>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
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+										<dict>
+											<key>Bounds</key>
+											<string>{{155.90661621093548, 329.69802856445312}, {101.5, 101.5}}</string>
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+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1036</integer>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{153.15661621093548, 326.94802856445312}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1037</integer>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+										</dict>
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+									<key>ID</key>
+									<integer>1033</integer>
+								</dict>
+								<dict>
+									<key>Bounds</key>
+									<string>{{155.57327270507534, 329.53634007772598}, {101.82337649086284, 101.82337649086284}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1038</integer>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>fill</key>
+										<dict>
+											<key>Color</key>
+											<dict>
+												<key>a</key>
+												<string>0.78</string>
+												<key>b</key>
+												<string>0.234512</string>
+												<key>g</key>
+												<string>0.673128</string>
+												<key>r</key>
+												<string>0.148947</string>
+											</dict>
+										</dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+										<key>stroke</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>VerticalPad</key>
+										<integer>0</integer>
+									</dict>
+								</dict>
+							</array>
+							<key>ID</key>
+							<integer>1026</integer>
+						</dict>
+						<dict>
+							<key>Class</key>
+							<string>Group</string>
+							<key>Graphics</key>
+							<array>
+								<dict>
+									<key>Bounds</key>
+									<string>{{59.499998728441994, 233.36969502765339}, {24, 24}}</string>
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+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1040</integer>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>Text</key>
+										<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
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+{\colortbl;\red255\green255\blue255;}
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+
+\f0\fs24 \cf0 2}</string>
+										<key>VerticalPad</key>
+										<integer>0</integer>
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+									<string>YES</string>
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+								<dict>
+									<key>Class</key>
+									<string>Group</string>
+									<key>Graphics</key>
+									<array>
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+											<key>Class</key>
+											<string>LineGraphic</string>
+											<key>ID</key>
+											<integer>1042</integer>
+											<key>Points</key>
+											<array>
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+												<string>{55.999994913735435, 197.1563669840329}</string>
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+											<key>Style</key>
+											<dict>
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+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
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+										<dict>
+											<key>Bounds</key>
+											<string>{{59.249994913735435, 286.53136698403307}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1043</integer>
+											<key>Rotation</key>
+											<real>180</real>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{20.999994913735549, 194.78136698403301}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1044</integer>
+											<key>Rotation</key>
+											<real>90</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{18.249994913735549, 192.03136698403301}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1045</integer>
+											<key>Rotation</key>
+											<real>90</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
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+									<key>ID</key>
+									<integer>1041</integer>
+									<key>Rotation</key>
+									<real>270</real>
+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+								<dict>
+									<key>Class</key>
+									<string>Group</string>
+									<key>Graphics</key>
+									<array>
+										<dict>
+											<key>Class</key>
+											<string>LineGraphic</string>
+											<key>ID</key>
+											<integer>1047</integer>
+											<key>Points</key>
+											<array>
+												<string>{87.999999999999915, 295.9480336506993}</string>
+												<string>{87.250000000000028, 293.57303365069941}</string>
+											</array>
+											<key>Style</key>
+											<dict>
+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
+												</dict>
+											</dict>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{67.999999999999915, 185.69803365069959}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1048</integer>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
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+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{20.749999999999915, 194.44803365069947}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1049</integer>
+											<key>Rotation</key>
+											<real>270</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{17.999999999999915, 191.69803365069947}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1050</integer>
+											<key>Rotation</key>
+											<real>270</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
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+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
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+									<key>ID</key>
+									<integer>1046</integer>
+									<key>Rotation</key>
+									<real>270</real>
+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+								<dict>
+									<key>Bounds</key>
+									<string>{{20.588311513272686, 194.45800066569694}, {101.82337649086284, 101.82337649086284}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1051</integer>
+									<key>Rotation</key>
+									<real>270</real>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>fill</key>
+										<dict>
+											<key>Color</key>
+											<dict>
+												<key>a</key>
+												<string>0.78</string>
+												<key>b</key>
+												<string>0.673128</string>
+												<key>g</key>
+												<string>0.534129</string>
+												<key>r</key>
+												<string>0.217952</string>
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+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
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+										<key>stroke</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>VerticalPad</key>
+										<integer>0</integer>
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+									<key>VFlip</key>
+									<string>YES</string>
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+							<integer>1039</integer>
+						</dict>
+						<dict>
+							<key>Class</key>
+							<string>Group</string>
+							<key>Graphics</key>
+							<array>
+								<dict>
+									<key>Bounds</key>
+									<string>{{329.22993342082486, 233.36969502765339}, {24, 24}}</string>
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+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1053</integer>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>Text</key>
+										<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
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+{\colortbl;\red255\green255\blue255;}
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+
+\f0\fs24 \cf0 1}</string>
+										<key>VerticalPad</key>
+										<integer>0</integer>
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+									<string>YES</string>
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+								<dict>
+									<key>Class</key>
+									<string>Group</string>
+									<key>Graphics</key>
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+											<key>Class</key>
+											<string>LineGraphic</string>
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+												<string>{325.72992960611828, 197.15636698403287}</string>
+											</array>
+											<key>Style</key>
+											<dict>
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+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
+												</dict>
+											</dict>
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+										<dict>
+											<key>Bounds</key>
+											<string>{{328.97992960611828, 286.53136698403307}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1056</integer>
+											<key>Rotation</key>
+											<real>180</real>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{290.72992960611839, 194.78136698403301}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1057</integer>
+											<key>Rotation</key>
+											<real>90</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{287.97992960611839, 192.03136698403301}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1058</integer>
+											<key>Rotation</key>
+											<real>90</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+									</array>
+									<key>ID</key>
+									<integer>1054</integer>
+									<key>Rotation</key>
+									<real>270</real>
+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+								<dict>
+									<key>Class</key>
+									<string>Group</string>
+									<key>Graphics</key>
+									<array>
+										<dict>
+											<key>Class</key>
+											<string>LineGraphic</string>
+											<key>ID</key>
+											<integer>1060</integer>
+											<key>Points</key>
+											<array>
+												<string>{357.72993469238281, 295.9480336506993}</string>
+												<string>{356.97993469238293, 293.57303365069941}</string>
+											</array>
+											<key>Style</key>
+											<dict>
+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
+												</dict>
+											</dict>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{337.72993469238281, 185.69803365069953}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1061</integer>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{290.47993469238281, 194.44803365069947}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1062</integer>
+											<key>Rotation</key>
+											<real>270</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{287.72993469238281, 191.69803365069947}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1063</integer>
+											<key>Rotation</key>
+											<real>270</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+									</array>
+									<key>ID</key>
+									<integer>1059</integer>
+									<key>Rotation</key>
+									<real>270</real>
+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+								<dict>
+									<key>Bounds</key>
+									<string>{{290.31824620565556, 194.45800066569686}, {101.82337649086284, 101.82337649086284}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1064</integer>
+									<key>Rotation</key>
+									<real>270</real>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>fill</key>
+										<dict>
+											<key>Color</key>
+											<dict>
+												<key>a</key>
+												<string>0.78</string>
+												<key>b</key>
+												<string>0.673128</string>
+												<key>g</key>
+												<string>0.534129</string>
+												<key>r</key>
+												<string>0.217952</string>
+											</dict>
+										</dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+										<key>stroke</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>VerticalPad</key>
+										<integer>0</integer>
+									</dict>
+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
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+							<key>ID</key>
+							<integer>1052</integer>
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+									<string>{{194.48495483398159, 92.448027292895233}, {24, 24}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1066</integer>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>Text</key>
+										<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
+\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
+{\colortbl;\red255\green255\blue255;}
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+\f0\fs24 \cf0 3}</string>
+										<key>VerticalPad</key>
+										<integer>0</integer>
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+									<key>Class</key>
+									<string>Group</string>
+									<key>Graphics</key>
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+										<dict>
+											<key>Class</key>
+											<string>LineGraphic</string>
+											<key>ID</key>
+											<integer>1068</integer>
+											<key>Points</key>
+											<array>
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+												<string>{254.69828287760208, 120.4480234781887}</string>
+											</array>
+											<key>Style</key>
+											<dict>
+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
+												</dict>
+											</dict>
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+										<dict>
+											<key>Bounds</key>
+											<string>{{148.07328287760188, 99.948023478188702}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1069</integer>
+											<key>Rotation</key>
+											<real>90</real>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{155.57328287760205, 53.948023478188688}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1070</integer>
+											<key>Rotation</key>
+											<real>180</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{152.82328287760205, 51.198023478188688}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1071</integer>
+											<key>Rotation</key>
+											<real>180</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+										</dict>
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+									<key>ID</key>
+									<integer>1067</integer>
+								</dict>
+								<dict>
+									<key>Class</key>
+									<string>Group</string>
+									<key>Graphics</key>
+									<array>
+										<dict>
+											<key>Class</key>
+											<string>LineGraphic</string>
+											<key>ID</key>
+											<integer>1073</integer>
+											<key>Points</key>
+											<array>
+												<string>{155.90661621093548, 87.948028564453111}</string>
+												<string>{158.28161621093548, 88.698028564453111}</string>
+											</array>
+											<key>Style</key>
+											<dict>
+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
+												</dict>
+											</dict>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{248.90661621093545, 90.698028564453111}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1074</integer>
+											<key>Rotation</key>
+											<real>270</real>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{155.90661621093548, 53.698028564453111}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1075</integer>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{153.15661621093548, 50.948028564453111}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1076</integer>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+										</dict>
+									</array>
+									<key>ID</key>
+									<integer>1072</integer>
+								</dict>
+								<dict>
+									<key>Bounds</key>
+									<string>{{155.57327270507534, 53.536340077725967}, {101.82337649086284, 101.82337649086284}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1077</integer>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>fill</key>
+										<dict>
+											<key>Color</key>
+											<dict>
+												<key>a</key>
+												<string>0.78</string>
+												<key>b</key>
+												<string>0.234512</string>
+												<key>g</key>
+												<string>0.673128</string>
+												<key>r</key>
+												<string>0.148947</string>
+											</dict>
+										</dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+										<key>stroke</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>VerticalPad</key>
+										<integer>0</integer>
+									</dict>
+								</dict>
+							</array>
+							<key>ID</key>
+							<integer>1065</integer>
+						</dict>
+						<dict>
+							<key>Bounds</key>
+							<string>{{131.48995971679412, 178.36470031738281}, {8, 134}}</string>
+							<key>Class</key>
+							<string>ShapedGraphic</string>
+							<key>ID</key>
+							<integer>1078</integer>
+							<key>Rotation</key>
+							<real>270</real>
+							<key>Shape</key>
+							<string>Rectangle</string>
+						</dict>
+						<dict>
+							<key>Bounds</key>
+							<string>{{273.48996988932043, 178.36469523111947}, {8, 134}}</string>
+							<key>Class</key>
+							<string>ShapedGraphic</string>
+							<key>ID</key>
+							<integer>1079</integer>
+							<key>Rotation</key>
+							<real>270</real>
+							<key>Shape</key>
+							<string>Rectangle</string>
+						</dict>
+						<dict>
+							<key>Bounds</key>
+							<string>{{202.48996988932029, 249.36468505859375}, {8, 134}}</string>
+							<key>Class</key>
+							<string>ShapedGraphic</string>
+							<key>ID</key>
+							<integer>1080</integer>
+							<key>Shape</key>
+							<string>Rectangle</string>
+						</dict>
+						<dict>
+							<key>Bounds</key>
+							<string>{{202.48995971679412, 107.28136189778644}, {8, 134}}</string>
+							<key>Class</key>
+							<string>ShapedGraphic</string>
+							<key>ID</key>
+							<integer>1081</integer>
+							<key>Shape</key>
+							<string>Rectangle</string>
+						</dict>
+					</array>
+					<key>ID</key>
+					<integer>1022</integer>
+				</dict>
+			</array>
+			<key>GridInfo</key>
+			<dict/>
+			<key>HPages</key>
+			<integer>1</integer>
+			<key>KeepToScale</key>
+			<false/>
+			<key>Layers</key>
+			<array>
+				<dict>
+					<key>Lock</key>
+					<string>NO</string>
+					<key>Name</key>
+					<string>Layer 1</string>
+					<key>Print</key>
+					<string>YES</string>
+					<key>View</key>
+					<string>YES</string>
+				</dict>
+			</array>
+			<key>LayoutInfo</key>
+			<dict>
+				<key>Animate</key>
+				<string>NO</string>
+				<key>circoMinDist</key>
+				<real>18</real>
+				<key>circoSeparation</key>
+				<real>0.0</real>
+				<key>layoutEngine</key>
+				<string>dot</string>
+				<key>neatoSeparation</key>
+				<real>0.0</real>
+				<key>twopiSeparation</key>
+				<real>0.0</real>
+			</dict>
+			<key>Orientation</key>
+			<integer>2</integer>
+			<key>PrintOnePage</key>
+			<false/>
+			<key>RowAlign</key>
+			<integer>1</integer>
+			<key>RowSpacing</key>
+			<real>36</real>
+			<key>SheetTitle</key>
+			<string>Rotor Assignments</string>
+			<key>UniqueID</key>
+			<integer>2</integer>
+			<key>VPages</key>
+			<integer>1</integer>
+		</dict>
+		<dict>
+			<key>ActiveLayerIndex</key>
+			<integer>0</integer>
+			<key>AutoAdjust</key>
+			<true/>
+			<key>BackgroundGraphic</key>
+			<dict>
+				<key>Bounds</key>
+				<string>{{0, 0}, {806, 1132}}</string>
+				<key>Class</key>
+				<string>SolidGraphic</string>
+				<key>ID</key>
+				<integer>2</integer>
+				<key>Style</key>
+				<dict>
+					<key>shadow</key>
+					<dict>
+						<key>Draws</key>
+						<string>NO</string>
+					</dict>
+					<key>stroke</key>
+					<dict>
+						<key>Draws</key>
+						<string>NO</string>
+					</dict>
+				</dict>
+			</dict>
+			<key>BaseZoom</key>
+			<integer>0</integer>
+			<key>CanvasOrigin</key>
+			<string>{0, 0}</string>
+			<key>ColumnAlign</key>
+			<integer>1</integer>
+			<key>ColumnSpacing</key>
+			<real>36</real>
+			<key>DisplayScale</key>
+			<string>1 0/72 in = 1.0000 in</string>
+			<key>GraphicsList</key>
+			<array>
+				<dict>
+					<key>Bounds</key>
+					<string>{{479, 926}, {45, 14}}</string>
+					<key>Class</key>
+					<string>ShapedGraphic</string>
+					<key>FitText</key>
+					<string>YES</string>
+					<key>Flow</key>
+					<string>Resize</string>
+					<key>ID</key>
+					<integer>1210</integer>
+					<key>Shape</key>
+					<string>Rectangle</string>
+					<key>Style</key>
+					<dict>
+						<key>fill</key>
+						<dict>
+							<key>Draws</key>
+							<string>NO</string>
+						</dict>
+						<key>shadow</key>
+						<dict>
+							<key>Draws</key>
+							<string>NO</string>
+						</dict>
+						<key>stroke</key>
+						<dict>
+							<key>Draws</key>
+							<string>NO</string>
+						</dict>
+					</dict>
+					<key>Text</key>
+					<dict>
+						<key>Pad</key>
+						<integer>0</integer>
+						<key>Text</key>
+						<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
+\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
+{\colortbl;\red255\green255\blue255;}
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+
+\f0\b\fs24 \cf0 HEXA
+\b0  X}</string>
+						<key>VerticalPad</key>
+						<integer>0</integer>
+					</dict>
+					<key>Wrap</key>
+					<string>NO</string>
+				</dict>
+				<dict>
+					<key>Class</key>
+					<string>Group</string>
+					<key>Graphics</key>
+					<array>
+						<dict>
+							<key>Class</key>
+							<string>Group</string>
+							<key>Graphics</key>
+							<array>
+								<dict>
+									<key>Bounds</key>
+									<string>{{323.13577025880016, 749.76557170439401}, {50.666667938232422, 36}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1124</integer>
+									<key>Rotation</key>
+									<real>270</real>
+									<key>Shape</key>
+									<string>HorizontalTriangle</string>
+									<key>Style</key>
+									<dict>
+										<key>fill</key>
+										<dict>
+											<key>Color</key>
+											<dict>
+												<key>b</key>
+												<string>0.13195</string>
+												<key>g</key>
+												<string>0.165669</string>
+												<key>r</key>
+												<string>1</string>
+											</dict>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>VerticalPad</key>
+										<integer>0</integer>
+									</dict>
+								</dict>
+								<dict>
+									<key>Bounds</key>
+									<string>{{312.46911845644303, 737.01059264737569}, {72, 72}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1125</integer>
+									<key>Rotation</key>
+									<real>45</real>
+									<key>Shape</key>
+									<string>Rectangle</string>
+									<key>Style</key>
+									<dict>
+										<key>stroke</key>
+										<dict>
+											<key>CornerRadius</key>
+											<real>9</real>
+										</dict>
+									</dict>
+								</dict>
+							</array>
+							<key>ID</key>
+							<integer>1123</integer>
+						</dict>
+						<dict>
+							<key>Class</key>
+							<string>Group</string>
+							<key>Graphics</key>
+							<array>
+								<dict>
+									<key>Bounds</key>
+									<string>{{407.17230315305846, 883.72204834096681}, {24, 24}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1127</integer>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>Text</key>
+										<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
+\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
+{\colortbl;\red255\green255\blue255;}
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+
+\f0\fs24 \cf0 4}</string>
+										<key>VerticalPad</key>
+										<integer>0</integer>
+									</dict>
+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+								<dict>
+									<key>Class</key>
+									<string>Group</string>
+									<key>Graphics</key>
+									<array>
+										<dict>
+											<key>Class</key>
+											<string>LineGraphic</string>
+											<key>ID</key>
+											<integer>1129</integer>
+											<key>Points</key>
+											<array>
+												<string>{379.80522301611819, 860.03627302756399}</string>
+												<string>{381.64224206895665, 861.71808336155198}</string>
+											</array>
+											<key>Style</key>
+											<dict>
+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
+												</dict>
+											</dict>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{432.69752786153174, 932.25483880979243}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1130</integer>
+											<key>Rotation</key>
+											<real>150</real>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{368.7196421785618, 844.9870622696244}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1131</integer>
+											<key>Rotation</key>
+											<real>60</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{365.9696421785618, 842.2370622696244}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1132</integer>
+											<key>Rotation</key>
+											<real>60</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+									</array>
+									<key>ID</key>
+									<integer>1128</integer>
+									<key>Rotation</key>
+									<real>240</real>
+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+								<dict>
+									<key>Class</key>
+									<string>Group</string>
+									<key>Graphics</key>
+									<array>
+										<dict>
+											<key>Class</key>
+											<string>LineGraphic</string>
+											<key>ID</key>
+											<integer>1134</integer>
+											<key>Points</key>
+											<array>
+												<string>{458.75089272822612, 931.27417383395721}</string>
+												<string>{456.91387367538789, 929.59236349996911}</string>
+											</array>
+											<key>Style</key>
+											<dict>
+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
+												</dict>
+											</dict>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{389.85858788281303, 840.55560805172911}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1135</integer>
+											<key>Rotation</key>
+											<real>330</real>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{368.33647356578285, 844.82338459189691}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1136</integer>
+											<key>Rotation</key>
+											<real>240</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{365.58647356578285, 842.07338459189691}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1137</integer>
+											<key>Rotation</key>
+											<real>240</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+									</array>
+									<key>ID</key>
+									<integer>1133</integer>
+									<key>Rotation</key>
+									<real>240</real>
+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+								<dict>
+									<key>Bounds</key>
+									<string>{{368.26061274159781, 844.81035428333826}, {101.82337649086284, 101.82337649086284}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1138</integer>
+									<key>Rotation</key>
+									<real>240</real>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>fill</key>
+										<dict>
+											<key>Color</key>
+											<dict>
+												<key>a</key>
+												<string>0.78</string>
+												<key>b</key>
+												<string>0.673128</string>
+												<key>g</key>
+												<string>0.534129</string>
+												<key>r</key>
+												<string>0.217952</string>
+											</dict>
+										</dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+										<key>stroke</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>VerticalPad</key>
+										<integer>0</integer>
+									</dict>
+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+							</array>
+							<key>ID</key>
+							<integer>1126</integer>
+							<key>Rotation</key>
+							<real>330</real>
+						</dict>
+						<dict>
+							<key>Class</key>
+							<string>Group</string>
+							<key>Graphics</key>
+							<array>
+								<dict>
+									<key>Bounds</key>
+									<string>{{267.75726457856609, 881.27816449485533}, {24, 24}}</string>
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+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1140</integer>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>Text</key>
+										<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
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+
+\f0\fs24 \cf0 6}</string>
+										<key>VerticalPad</key>
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+								<dict>
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+									<string>Group</string>
+									<key>Graphics</key>
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+										<dict>
+											<key>Class</key>
+											<string>LineGraphic</string>
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+												<string>{329.51122955798087, 883.02790362996325}</string>
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+											<dict>
+												<key>stroke</key>
+												<dict>
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+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
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+										<dict>
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+											<string>{{230.47447410974044, 913.3476178373885}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1143</integer>
+											<key>Rotation</key>
+											<real>60</real>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
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+										<dict>
+											<key>Bounds</key>
+											<string>{{228.99225064990861, 842.82550352035832}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1144</integer>
+											<key>Rotation</key>
+											<real>150</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{226.24225064990861, 840.07550352035832}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1145</integer>
+											<key>Rotation</key>
+											<real>150</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
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+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
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+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
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+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+										</dict>
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+									<integer>1141</integer>
+									<key>Rotation</key>
+									<real>330</real>
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+								<dict>
+									<key>Class</key>
+									<string>Group</string>
+									<key>Graphics</key>
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+										<dict>
+											<key>Class</key>
+											<string>LineGraphic</string>
+											<key>ID</key>
+											<integer>1147</integer>
+											<key>Points</key>
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+												<string>{230.13694941956365, 903.73993479797491}</string>
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+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
+												</dict>
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+										<dict>
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+											<string>{{313.17370486780385, 854.92022059054989}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
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+											<string>YES</string>
+											<key>ID</key>
+											<integer>1148</integer>
+											<key>Rotation</key>
+											<real>240</real>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
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+										<dict>
+											<key>Bounds</key>
+											<string>{{229.15592832763582, 842.44233490757972}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
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+											<string>YES</string>
+											<key>ID</key>
+											<integer>1149</integer>
+											<key>Rotation</key>
+											<real>330</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
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+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
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+										<dict>
+											<key>Bounds</key>
+											<string>{{226.40592832763582, 839.69233490757972}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1150</integer>
+											<key>Rotation</key>
+											<real>330</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
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+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
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+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
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+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
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+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
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+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
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+									<key>ID</key>
+									<integer>1146</integer>
+									<key>Rotation</key>
+									<real>330</real>
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+								<dict>
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+									<string>{{228.84558214533197, 842.36647408339456}, {101.82337649086284, 101.82337649086284}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
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+									<key>Rotation</key>
+									<real>330</real>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>fill</key>
+										<dict>
+											<key>Color</key>
+											<dict>
+												<key>a</key>
+												<string>0.78</string>
+												<key>b</key>
+												<string>0.234512</string>
+												<key>g</key>
+												<string>0.673128</string>
+												<key>r</key>
+												<string>0.148947</string>
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+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
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+										<key>stroke</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>VerticalPad</key>
+										<integer>0</integer>
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+							<key>ID</key>
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+							<key>Rotation</key>
+							<real>330</real>
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+						<dict>
+							<key>Class</key>
+							<string>Group</string>
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+							<array>
+								<dict>
+									<key>Bounds</key>
+									<string>{{474.97119637474935, 761.64314519248808}, {24, 24}}</string>
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+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1153</integer>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
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+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>Text</key>
+										<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
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+
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+										<key>VerticalPad</key>
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+									<key>Class</key>
+									<string>Group</string>
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+										<dict>
+											<key>Class</key>
+											<string>LineGraphic</string>
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+												<string>{536.72516135416413, 763.39288432759611}</string>
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+											<dict>
+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
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+										<dict>
+											<key>Bounds</key>
+											<string>{{437.68840590592367, 793.71259853502136}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1156</integer>
+											<key>Rotation</key>
+											<real>60</real>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
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+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
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+										<dict>
+											<key>Bounds</key>
+											<string>{{436.20618244609187, 723.19048421799118}, {101.5, 101.5}}</string>
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+											<string>ShapedGraphic</string>
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+											<string>YES</string>
+											<key>ID</key>
+											<integer>1157</integer>
+											<key>Rotation</key>
+											<real>150</real>
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+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
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+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
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+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
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+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
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+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
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+										<dict>
+											<key>Bounds</key>
+											<string>{{433.45618244609187, 720.44048421799118}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
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+											<string>YES</string>
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+											<integer>1158</integer>
+											<key>Rotation</key>
+											<real>150</real>
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+											<string>AdjustableArc</string>
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+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
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+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+										</dict>
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+									<key>ID</key>
+									<integer>1154</integer>
+									<key>Rotation</key>
+									<real>330</real>
+								</dict>
+								<dict>
+									<key>Class</key>
+									<string>Group</string>
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+										<dict>
+											<key>Class</key>
+											<string>LineGraphic</string>
+											<key>ID</key>
+											<integer>1160</integer>
+											<key>Points</key>
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+												<string>{434.91907088175884, 784.64289644276937}</string>
+												<string>{437.35088121574688, 784.10491549560766}</string>
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+											<dict>
+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
+												</dict>
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+										<dict>
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+											<string>{{520.38763666398711, 735.28520128818252}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1161</integer>
+											<key>Rotation</key>
+											<real>240</real>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{436.36986012381902, 722.80731560521247}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1162</integer>
+											<key>Rotation</key>
+											<real>330</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{433.61986012381902, 720.05731560521247}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1163</integer>
+											<key>Rotation</key>
+											<real>330</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+										</dict>
+									</array>
+									<key>ID</key>
+									<integer>1159</integer>
+									<key>Rotation</key>
+									<real>330</real>
+								</dict>
+								<dict>
+									<key>Bounds</key>
+									<string>{{436.05951394151521, 722.73145478102731}, {101.82337649086284, 101.82337649086284}}</string>
+									<key>Class</key>
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+									<key>ID</key>
+									<integer>1164</integer>
+									<key>Rotation</key>
+									<real>330</real>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>fill</key>
+										<dict>
+											<key>Color</key>
+											<dict>
+												<key>a</key>
+												<string>0.78</string>
+												<key>b</key>
+												<string>0.234512</string>
+												<key>g</key>
+												<string>0.673128</string>
+												<key>r</key>
+												<string>0.148947</string>
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+										</dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+										<key>stroke</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>VerticalPad</key>
+										<integer>0</integer>
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+								</dict>
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+							<key>ID</key>
+							<integer>1152</integer>
+							<key>Rotation</key>
+							<real>330</real>
+						</dict>
+						<dict>
+							<key>Class</key>
+							<string>Group</string>
+							<key>Graphics</key>
+							<array>
+								<dict>
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+									<string>{{197.82245308809811, 760.38763453076365}, {24, 24}}</string>
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+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1166</integer>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>Text</key>
+										<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
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+
+\f0\fs24 \cf0 2}</string>
+										<key>VerticalPad</key>
+										<integer>0</integer>
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+									<string>YES</string>
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+								<dict>
+									<key>Class</key>
+									<string>Group</string>
+									<key>Graphics</key>
+									<array>
+										<dict>
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+											<string>LineGraphic</string>
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+												<string>{172.29239200399638, 738.38366955134893}</string>
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+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
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+										<dict>
+											<key>Bounds</key>
+											<string>{{223.34767779657142, 808.92042499958939}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1169</integer>
+											<key>Rotation</key>
+											<real>150</real>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
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+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
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+											<key>VFlip</key>
+											<string>YES</string>
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+										<dict>
+											<key>Bounds</key>
+											<string>{{159.36979211360145, 721.65264845942124}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1170</integer>
+											<key>Rotation</key>
+											<real>60</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
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+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
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+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
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+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{156.61979211360145, 718.90264845942124}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1171</integer>
+											<key>Rotation</key>
+											<real>60</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
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+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
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+									<integer>1167</integer>
+									<key>Rotation</key>
+									<real>240</real>
+									<key>VFlip</key>
+									<string>YES</string>
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+								<dict>
+									<key>Class</key>
+									<string>Group</string>
+									<key>Graphics</key>
+									<array>
+										<dict>
+											<key>Class</key>
+											<string>LineGraphic</string>
+											<key>ID</key>
+											<integer>1173</integer>
+											<key>Points</key>
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+												<string>{247.56402361042768, 806.25794968976606}</string>
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+											<key>Style</key>
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+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
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+										<dict>
+											<key>Bounds</key>
+											<string>{{180.50873781785265, 717.22119424152584}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1174</integer>
+											<key>Rotation</key>
+											<real>330</real>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
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+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>VFlip</key>
+											<string>YES</string>
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+										<dict>
+											<key>Bounds</key>
+											<string>{{158.98662350082267, 721.48897078169387}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1175</integer>
+											<key>Rotation</key>
+											<real>240</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
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+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{156.23662350082267, 718.73897078169387}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1176</integer>
+											<key>Rotation</key>
+											<real>240</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
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+									<key>ID</key>
+									<integer>1172</integer>
+									<key>Rotation</key>
+									<real>240</real>
+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+								<dict>
+									<key>Bounds</key>
+									<string>{{158.91076267663743, 721.47594047313521}, {101.82337649086284, 101.82337649086284}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
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+									<key>Rotation</key>
+									<real>240</real>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
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+										<key>fill</key>
+										<dict>
+											<key>Color</key>
+											<dict>
+												<key>a</key>
+												<string>0.78</string>
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+												<string>0.673128</string>
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+												<string>0.534129</string>
+												<key>r</key>
+												<string>0.217952</string>
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+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
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+										<key>stroke</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>VerticalPad</key>
+										<integer>0</integer>
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+									<key>VFlip</key>
+									<string>YES</string>
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+							<key>ID</key>
+							<integer>1165</integer>
+							<key>Rotation</key>
+							<real>330</real>
+						</dict>
+						<dict>
+							<key>Class</key>
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+							<key>Graphics</key>
+							<array>
+								<dict>
+									<key>Bounds</key>
+									<string>{{405.7864385681853, 642.051622339657}, {24, 24}}</string>
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+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1179</integer>
+									<key>Shape</key>
+									<string>Circle</string>
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+									<dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>Text</key>
+										<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
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+{\colortbl;\red255\green255\blue255;}
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+
+\f0\fs24 \cf0 5}</string>
+										<key>VerticalPad</key>
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+									<string>YES</string>
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+								<dict>
+									<key>Class</key>
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+											<key>Class</key>
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+												<string>{380.25637748408349, 620.04765736024217}</string>
+											</array>
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+											<dict>
+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
+												</dict>
+											</dict>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{431.31166327665852, 690.58441280848263}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1182</integer>
+											<key>Rotation</key>
+											<real>150</real>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{367.33377759368858, 603.3166362683146}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1183</integer>
+											<key>Rotation</key>
+											<real>60</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{364.58377759368858, 600.5666362683146}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1184</integer>
+											<key>Rotation</key>
+											<real>60</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+									</array>
+									<key>ID</key>
+									<integer>1180</integer>
+									<key>Rotation</key>
+									<real>240</real>
+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+								<dict>
+									<key>Class</key>
+									<string>Group</string>
+									<key>Graphics</key>
+									<array>
+										<dict>
+											<key>Class</key>
+											<string>LineGraphic</string>
+											<key>ID</key>
+											<integer>1186</integer>
+											<key>Points</key>
+											<array>
+												<string>{457.36502814335307, 689.6037478326474}</string>
+												<string>{455.52800909051496, 687.92193749865953}</string>
+											</array>
+											<key>Style</key>
+											<dict>
+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
+												</dict>
+											</dict>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{388.47272329793987, 598.8851820504193}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1187</integer>
+											<key>Rotation</key>
+											<real>330</real>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{366.95060898090981, 603.15295859058722}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1188</integer>
+											<key>Rotation</key>
+											<real>240</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{364.20060898090981, 600.40295859058722}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1189</integer>
+											<key>Rotation</key>
+											<real>240</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+									</array>
+									<key>ID</key>
+									<integer>1185</integer>
+									<key>Rotation</key>
+									<real>240</real>
+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+								<dict>
+									<key>Bounds</key>
+									<string>{{366.87474815672459, 603.13992828202845}, {101.82337649086284, 101.82337649086284}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1190</integer>
+									<key>Rotation</key>
+									<real>240</real>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>fill</key>
+										<dict>
+											<key>Color</key>
+											<dict>
+												<key>a</key>
+												<string>0.78</string>
+												<key>b</key>
+												<string>0.673128</string>
+												<key>g</key>
+												<string>0.534129</string>
+												<key>r</key>
+												<string>0.217952</string>
+											</dict>
+										</dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+										<key>stroke</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>VerticalPad</key>
+										<integer>0</integer>
+									</dict>
+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+							</array>
+							<key>ID</key>
+							<integer>1178</integer>
+							<key>Rotation</key>
+							<real>330</real>
+						</dict>
+						<dict>
+							<key>Bounds</key>
+							<string>{{416.05401025695778, 706.97194681357246}, {8, 134}}</string>
+							<key>Class</key>
+							<string>ShapedGraphic</string>
+							<key>ID</key>
+							<integer>1191</integer>
+							<key>Rotation</key>
+							<real>270</real>
+							<key>Shape</key>
+							<string>Rectangle</string>
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+						<dict>
+							<key>Bounds</key>
+							<string>{{273.20840928884093, 706.24568349439642}, {8, 134}}</string>
+							<key>Class</key>
+							<string>ShapedGraphic</string>
+							<key>ID</key>
+							<integer>1192</integer>
+							<key>Rotation</key>
+							<real>270</real>
+							<key>Shape</key>
+							<string>Rectangle</string>
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+						<dict>
+							<key>Bounds</key>
+							<string>{{309.23428435411637, 768.64435011115415}, {8, 134}}</string>
+							<key>Class</key>
+							<string>ShapedGraphic</string>
+							<key>ID</key>
+							<integer>1193</integer>
+							<key>Rotation</key>
+							<real>30</real>
+							<key>Shape</key>
+							<string>Rectangle</string>
+						</dict>
+						<dict>
+							<key>Bounds</key>
+							<string>{{380.02813770004576, 644.57328454142464}, {8, 134}}</string>
+							<key>Class</key>
+							<string>ShapedGraphic</string>
+							<key>ID</key>
+							<integer>1194</integer>
+							<key>Rotation</key>
+							<real>30</real>
+							<key>Shape</key>
+							<string>Rectangle</string>
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+						<dict>
+							<key>Class</key>
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+							<key>Graphics</key>
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+									<string>{{268.61421230672084, 643.49244485638758}, {24, 24}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1196</integer>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>Text</key>
+										<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
+\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
+{\colortbl;\red255\green255\blue255;}
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+\f0\fs24 \cf0 3}</string>
+										<key>VerticalPad</key>
+										<integer>0</integer>
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+									<key>Class</key>
+									<string>Group</string>
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+										<dict>
+											<key>Class</key>
+											<string>LineGraphic</string>
+											<key>ID</key>
+											<integer>1198</integer>
+											<key>Points</key>
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+												<string>{332.79998762012377, 644.70420304433412}</string>
+												<string>{330.36817728613562, 645.24218399149561}</string>
+											</array>
+											<key>Style</key>
+											<dict>
+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
+												</dict>
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+										<dict>
+											<key>Bounds</key>
+											<string>{{231.33142183789516, 675.56189819892086}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1199</integer>
+											<key>Rotation</key>
+											<real>60</real>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{229.84919837806336, 605.03978388189068}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1200</integer>
+											<key>Rotation</key>
+											<real>150</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{227.09919837806336, 602.28978388189068}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1201</integer>
+											<key>Rotation</key>
+											<real>150</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+										</dict>
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+									<key>ID</key>
+									<integer>1197</integer>
+									<key>Rotation</key>
+									<real>330</real>
+								</dict>
+								<dict>
+									<key>Class</key>
+									<string>Group</string>
+									<key>Graphics</key>
+									<array>
+										<dict>
+											<key>Class</key>
+											<string>LineGraphic</string>
+											<key>ID</key>
+											<integer>1203</integer>
+											<key>Points</key>
+											<array>
+												<string>{228.56208681373033, 666.49219610666887}</string>
+												<string>{230.99389714771837, 665.95421515950716}</string>
+											</array>
+											<key>Style</key>
+											<dict>
+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
+												</dict>
+											</dict>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{314.03065259595854, 617.13450095208213}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1204</integer>
+											<key>Rotation</key>
+											<real>240</real>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{230.01287605579051, 604.65661526911197}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1205</integer>
+											<key>Rotation</key>
+											<real>330</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{227.26287605579051, 601.90661526911197}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>1206</integer>
+											<key>Rotation</key>
+											<real>330</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+										</dict>
+									</array>
+									<key>ID</key>
+									<integer>1202</integer>
+									<key>Rotation</key>
+									<real>330</real>
+								</dict>
+								<dict>
+									<key>Bounds</key>
+									<string>{{229.7025298734867, 604.58075444492681}, {101.82337649086284, 101.82337649086284}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1207</integer>
+									<key>Rotation</key>
+									<real>330</real>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>fill</key>
+										<dict>
+											<key>Color</key>
+											<dict>
+												<key>a</key>
+												<string>0.78</string>
+												<key>b</key>
+												<string>0.234512</string>
+												<key>g</key>
+												<string>0.673128</string>
+												<key>r</key>
+												<string>0.148947</string>
+											</dict>
+										</dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+										<key>stroke</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>VerticalPad</key>
+										<integer>0</integer>
+									</dict>
+								</dict>
+							</array>
+							<key>ID</key>
+							<integer>1195</integer>
+							<key>Rotation</key>
+							<real>330</real>
+						</dict>
+						<dict>
+							<key>Bounds</key>
+							<string>{{380.57688435489479, 768.55104482376805}, {8, 134}}</string>
+							<key>Class</key>
+							<string>ShapedGraphic</string>
+							<key>ID</key>
+							<integer>1208</integer>
+							<key>Rotation</key>
+							<real>330</real>
+							<key>Shape</key>
+							<string>Rectangle</string>
+						</dict>
+						<dict>
+							<key>Bounds</key>
+							<string>{{309.53521396482506, 645.50328259865807}, {8, 134}}</string>
+							<key>Class</key>
+							<string>ShapedGraphic</string>
+							<key>ID</key>
+							<integer>1209</integer>
+							<key>Rotation</key>
+							<real>330</real>
+							<key>Shape</key>
+							<string>Rectangle</string>
+						</dict>
+					</array>
+					<key>ID</key>
+					<integer>1122</integer>
+					<key>Rotation</key>
+					<real>330</real>
+				</dict>
+				<dict>
+					<key>Bounds</key>
+					<string>{{431, 450}, {44, 14}}</string>
+					<key>Class</key>
+					<string>ShapedGraphic</string>
+					<key>FitText</key>
+					<string>YES</string>
+					<key>Flow</key>
+					<string>Resize</string>
+					<key>ID</key>
+					<integer>1121</integer>
+					<key>Shape</key>
+					<string>Rectangle</string>
+					<key>Style</key>
+					<dict>
+						<key>fill</key>
+						<dict>
+							<key>Draws</key>
+							<string>NO</string>
+						</dict>
+						<key>shadow</key>
+						<dict>
+							<key>Draws</key>
+							<string>NO</string>
+						</dict>
+						<key>stroke</key>
+						<dict>
+							<key>Draws</key>
+							<string>NO</string>
+						</dict>
+					</dict>
+					<key>Text</key>
+					<dict>
+						<key>Pad</key>
+						<integer>0</integer>
+						<key>Text</key>
+						<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
+\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
+{\colortbl;\red255\green255\blue255;}
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+
+\f0\b\fs24 \cf0 HEXA
+\b0  +}</string>
+						<key>VerticalPad</key>
+						<integer>0</integer>
+					</dict>
+					<key>Wrap</key>
+					<string>NO</string>
+				</dict>
+				<dict>
+					<key>Class</key>
+					<string>Group</string>
+					<key>Graphics</key>
+					<array>
+						<dict>
+							<key>Class</key>
+							<string>Group</string>
+							<key>Graphics</key>
+							<array>
+								<dict>
+									<key>Bounds</key>
+									<string>{{326.15660523791308, 258.95613225301122}, {50.666667938232422, 36}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>320</integer>
+									<key>Rotation</key>
+									<real>270</real>
+									<key>Shape</key>
+									<string>HorizontalTriangle</string>
+									<key>Style</key>
+									<dict>
+										<key>fill</key>
+										<dict>
+											<key>Color</key>
+											<dict>
+												<key>b</key>
+												<string>0.13195</string>
+												<key>g</key>
+												<string>0.165669</string>
+												<key>r</key>
+												<string>1</string>
+											</dict>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>VerticalPad</key>
+										<integer>0</integer>
+									</dict>
+								</dict>
+								<dict>
+									<key>Bounds</key>
+									<string>{{315.48995343555595, 246.20115319599296}, {72, 72}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>321</integer>
+									<key>Rotation</key>
+									<real>45</real>
+									<key>Shape</key>
+									<string>Rectangle</string>
+									<key>Style</key>
+									<dict>
+										<key>stroke</key>
+										<dict>
+											<key>CornerRadius</key>
+											<real>9</real>
+										</dict>
+									</dict>
+								</dict>
+							</array>
+							<key>ID</key>
+							<integer>319</integer>
+						</dict>
+						<dict>
+							<key>Class</key>
+							<string>Group</string>
+							<key>Graphics</key>
+							<array>
+								<dict>
+									<key>Bounds</key>
+									<string>{{339.36497966449247, 411.82398351031941}, {24, 24}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>323</integer>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>Text</key>
+										<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
+\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
+{\colortbl;\red255\green255\blue255;}
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+
+\f0\fs24 \cf0 2}</string>
+										<key>VerticalPad</key>
+										<integer>0</integer>
+									</dict>
+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+								<dict>
+									<key>Class</key>
+									<string>Group</string>
+									<key>Graphics</key>
+									<array>
+										<dict>
+											<key>Class</key>
+											<string>LineGraphic</string>
+											<key>ID</key>
+											<integer>325</integer>
+											<key>Points</key>
+											<array>
+												<string>{335.11497584978588, 373.23565546669897}</string>
+												<string>{335.86497584978599, 375.61065546669897}</string>
+											</array>
+											<key>Style</key>
+											<dict>
+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
+												</dict>
+											</dict>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{339.11497584978599, 464.98565546669914}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>326</integer>
+											<key>Rotation</key>
+											<real>180</real>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{300.86497584978611, 373.23565546669909}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>327</integer>
+											<key>Rotation</key>
+											<real>90</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{298.11497584978611, 370.48565546669909}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>328</integer>
+											<key>Rotation</key>
+											<real>90</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+									</array>
+									<key>ID</key>
+									<integer>324</integer>
+									<key>Rotation</key>
+									<real>270</real>
+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+								<dict>
+									<key>Class</key>
+									<string>Group</string>
+									<key>Graphics</key>
+									<array>
+										<dict>
+											<key>Class</key>
+											<string>LineGraphic</string>
+											<key>ID</key>
+											<integer>330</integer>
+											<key>Points</key>
+											<array>
+												<string>{367.86498093605042, 474.40232213336532}</string>
+												<string>{367.11498093605053, 472.02732213336543}</string>
+											</array>
+											<key>Style</key>
+											<dict>
+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
+												</dict>
+											</dict>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{347.86498093605042, 364.15232213336554}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>331</integer>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{300.61498093605042, 372.90232213336543}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>332</integer>
+											<key>Rotation</key>
+											<real>270</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{297.86498093605042, 370.15232213336543}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>333</integer>
+											<key>Rotation</key>
+											<real>270</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+									</array>
+									<key>ID</key>
+									<integer>329</integer>
+									<key>Rotation</key>
+									<real>270</real>
+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+								<dict>
+									<key>Bounds</key>
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+										<dict>
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+												<string>0.78</string>
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+												<string>0.673128</string>
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+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
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+										<key>stroke</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
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+										<integer>0</integer>
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+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
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+									<key>ID</key>
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+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
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+										<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
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+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
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+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
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+											<key>ID</key>
+											<integer>340</integer>
+											<key>Rotation</key>
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+											<key>ShapeData</key>
+											<dict>
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+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
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+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
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+										<dict>
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+											<string>ShapedGraphic</string>
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+											<string>YES</string>
+											<key>ID</key>
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+											<key>Rotation</key>
+											<real>180</real>
+											<key>Shape</key>
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+											<key>ShapeData</key>
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+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
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+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
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+								<dict>
+									<key>Class</key>
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+											<string>LineGraphic</string>
+											<key>ID</key>
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+											<key>Points</key>
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+												<string>{183.64661788940435, 336.25}</string>
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+											<key>Style</key>
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+												<dict>
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+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
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+										<dict>
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+											<key>Class</key>
+											<string>ShapedGraphic</string>
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+											<key>ID</key>
+											<integer>344</integer>
+											<key>Rotation</key>
+											<real>270</real>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
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+											</dict>
+											<key>Text</key>
+											<dict>
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+												<integer>0</integer>
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+											<key>Bounds</key>
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+											<string>ShapedGraphic</string>
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+											<key>ID</key>
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+											<key>Shape</key>
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+											<key>ShapeData</key>
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+												<key>startAngle</key>
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+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
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+													<string>NO</string>
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+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
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+												<integer>0</integer>
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+											<key>TextRelativeArea</key>
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+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
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+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
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+												<key>startAngle</key>
+												<real>281</real>
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+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
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+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
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+											<key>Text</key>
+											<dict>
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+												<integer>0</integer>
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+											<key>TextRelativeArea</key>
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+									<key>ID</key>
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+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>fill</key>
+										<dict>
+											<key>Color</key>
+											<dict>
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+												<string>0.78</string>
+												<key>b</key>
+												<string>0.234512</string>
+												<key>g</key>
+												<string>0.673128</string>
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+												<string>0.148947</string>
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+										<dict>
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+											<string>NO</string>
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+										<key>stroke</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
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+									<key>Text</key>
+									<dict>
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+									<string>ShapedGraphic</string>
+									<key>ID</key>
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+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>Text</key>
+										<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
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+										<key>VerticalPad</key>
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+									<key>Class</key>
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+											<string>LineGraphic</string>
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+												<string>{519.33332316080532, 367.99999491373558}</string>
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+											<key>Style</key>
+											<dict>
+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
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+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>352</integer>
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+											<real>90</real>
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+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
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+											<key>Text</key>
+											<dict>
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+												<integer>0</integer>
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+										<dict>
+											<key>Bounds</key>
+											<string>{{420.20832316080521, 301.49999491373558}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
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+											<string>YES</string>
+											<key>ID</key>
+											<integer>353</integer>
+											<key>Rotation</key>
+											<real>180</real>
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+											<key>ShapeData</key>
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+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
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+											<key>Style</key>
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+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
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+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
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+											<key>Text</key>
+											<dict>
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+												<integer>0</integer>
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+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
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+											<key>Class</key>
+											<string>ShapedGraphic</string>
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+											<string>YES</string>
+											<key>ID</key>
+											<integer>354</integer>
+											<key>Rotation</key>
+											<real>180</real>
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+											<string>AdjustableArc</string>
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+												<real>281</real>
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+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
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+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
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+											<key>Text</key>
+											<dict>
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+												<integer>0</integer>
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+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
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+									<key>ID</key>
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+								<dict>
+									<key>Class</key>
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+											<key>Class</key>
+											<string>LineGraphic</string>
+											<key>ID</key>
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+												<string>{422.91665649413864, 336.25}</string>
+											</array>
+											<key>Style</key>
+											<dict>
+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
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+										<dict>
+											<key>Bounds</key>
+											<string>{{513.54165649413858, 338.25}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>357</integer>
+											<key>Rotation</key>
+											<real>270</real>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
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+										<dict>
+											<key>Bounds</key>
+											<string>{{420.54165649413864, 301.25}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>358</integer>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{417.79165649413864, 298.5}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>359</integer>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+										</dict>
+									</array>
+									<key>ID</key>
+									<integer>355</integer>
+								</dict>
+								<dict>
+									<key>Bounds</key>
+									<string>{{420.20831298827852, 301.08831151327286}, {101.82337649086284, 101.82337649086284}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>360</integer>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>fill</key>
+										<dict>
+											<key>Color</key>
+											<dict>
+												<key>a</key>
+												<string>0.78</string>
+												<key>b</key>
+												<string>0.234512</string>
+												<key>g</key>
+												<string>0.673128</string>
+												<key>r</key>
+												<string>0.148947</string>
+											</dict>
+										</dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+										<key>stroke</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>VerticalPad</key>
+										<integer>0</integer>
+									</dict>
+								</dict>
+							</array>
+							<key>ID</key>
+							<integer>348</integer>
+						</dict>
+						<dict>
+							<key>Class</key>
+							<string>Group</string>
+							<key>Graphics</key>
+							<array>
+								<dict>
+									<key>Bounds</key>
+									<string>{{219.72989813487507, 200.33832295734095}, {24, 24}}</string>
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+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>362</integer>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>Text</key>
+										<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
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+{\colortbl;\red255\green255\blue255;}
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+
+\f0\fs24 \cf0 5}</string>
+										<key>VerticalPad</key>
+										<integer>0</integer>
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+									<key>VFlip</key>
+									<string>YES</string>
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+								<dict>
+									<key>Class</key>
+									<string>Group</string>
+									<key>Graphics</key>
+									<array>
+										<dict>
+											<key>Class</key>
+											<string>LineGraphic</string>
+											<key>ID</key>
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+											<key>Points</key>
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+												<string>{216.22989432016857, 164.12499491372046}</string>
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+											<key>Style</key>
+											<dict>
+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
+												</dict>
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+										<dict>
+											<key>Bounds</key>
+											<string>{{219.47989432016857, 253.49999491372063}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>365</integer>
+											<key>Rotation</key>
+											<real>180</real>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{181.22989432016868, 161.74999491372057}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>366</integer>
+											<key>Rotation</key>
+											<real>90</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{178.47989432016868, 158.99999491372057}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>367</integer>
+											<key>Rotation</key>
+											<real>90</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
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+									<key>ID</key>
+									<integer>363</integer>
+									<key>Rotation</key>
+									<real>270</real>
+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+								<dict>
+									<key>Class</key>
+									<string>Group</string>
+									<key>Graphics</key>
+									<array>
+										<dict>
+											<key>Class</key>
+											<string>LineGraphic</string>
+											<key>ID</key>
+											<integer>369</integer>
+											<key>Points</key>
+											<array>
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+												<string>{247.47989940643316, 260.54166158038697}</string>
+											</array>
+											<key>Style</key>
+											<dict>
+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
+												</dict>
+											</dict>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{228.22989940643305, 152.66666158038709}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>370</integer>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{180.97989940643305, 161.41666158038697}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>371</integer>
+											<key>Rotation</key>
+											<real>270</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{178.22989940643305, 158.66666158038697}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>372</integer>
+											<key>Rotation</key>
+											<real>270</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+									</array>
+									<key>ID</key>
+									<integer>368</integer>
+									<key>Rotation</key>
+									<real>270</real>
+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+								<dict>
+									<key>Bounds</key>
+									<string>{{180.81821091970582, 161.42662859538444}, {101.82337649086284, 101.82337649086284}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>373</integer>
+									<key>Rotation</key>
+									<real>270</real>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>fill</key>
+										<dict>
+											<key>Color</key>
+											<dict>
+												<key>a</key>
+												<string>0.78</string>
+												<key>b</key>
+												<string>0.673128</string>
+												<key>g</key>
+												<string>0.534129</string>
+												<key>r</key>
+												<string>0.217952</string>
+											</dict>
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+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+										<key>stroke</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>VerticalPad</key>
+										<integer>0</integer>
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+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
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+							<integer>361</integer>
+						</dict>
+						<dict>
+							<key>Class</key>
+							<string>Group</string>
+							<key>Graphics</key>
+							<array>
+								<dict>
+									<key>Bounds</key>
+									<string>{{458.99999872844205, 201.83832295734095}, {24, 24}}</string>
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+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>375</integer>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>Text</key>
+										<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
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+{\colortbl;\red255\green255\blue255;}
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+
+\f0\fs24 \cf0 4}</string>
+										<key>VerticalPad</key>
+										<integer>0</integer>
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+									<string>YES</string>
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+								<dict>
+									<key>Class</key>
+									<string>Group</string>
+									<key>Graphics</key>
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+										<dict>
+											<key>Class</key>
+											<string>LineGraphic</string>
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+												<string>{455.49999491373552, 165.62499491372046}</string>
+											</array>
+											<key>Style</key>
+											<dict>
+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
+												</dict>
+											</dict>
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+										<dict>
+											<key>Bounds</key>
+											<string>{{458.74999491373552, 254.99999491372063}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>378</integer>
+											<key>Rotation</key>
+											<real>180</real>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
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+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{420.49999491373563, 163.24999491372057}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>379</integer>
+											<key>Rotation</key>
+											<real>90</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{417.74999491373563, 160.49999491372057}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>380</integer>
+											<key>Rotation</key>
+											<real>90</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+									</array>
+									<key>ID</key>
+									<integer>376</integer>
+									<key>Rotation</key>
+									<real>270</real>
+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+								<dict>
+									<key>Class</key>
+									<string>Group</string>
+									<key>Graphics</key>
+									<array>
+										<dict>
+											<key>Class</key>
+											<string>LineGraphic</string>
+											<key>ID</key>
+											<integer>382</integer>
+											<key>Points</key>
+											<array>
+												<string>{487.5, 264.41666158038686}</string>
+												<string>{486.75000000000011, 262.04166158038697}</string>
+											</array>
+											<key>Style</key>
+											<dict>
+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
+												</dict>
+											</dict>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{467.5, 154.16666158038709}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>383</integer>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{420.25, 162.91666158038697}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>384</integer>
+											<key>Rotation</key>
+											<real>270</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{417.5, 160.16666158038697}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>385</integer>
+											<key>Rotation</key>
+											<real>270</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+									</array>
+									<key>ID</key>
+									<integer>381</integer>
+									<key>Rotation</key>
+									<real>270</real>
+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+								<dict>
+									<key>Bounds</key>
+									<string>{{420.0883115132728, 162.92662859538444}, {101.82337649086284, 101.82337649086284}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>386</integer>
+									<key>Rotation</key>
+									<real>270</real>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>fill</key>
+										<dict>
+											<key>Color</key>
+											<dict>
+												<key>a</key>
+												<string>0.78</string>
+												<key>b</key>
+												<string>0.673128</string>
+												<key>g</key>
+												<string>0.534129</string>
+												<key>r</key>
+												<string>0.217952</string>
+											</dict>
+										</dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+										<key>stroke</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>VerticalPad</key>
+										<integer>0</integer>
+									</dict>
+									<key>VFlip</key>
+									<string>YES</string>
+								</dict>
+							</array>
+							<key>ID</key>
+							<integer>374</integer>
+						</dict>
+						<dict>
+							<key>Bounds</key>
+							<string>{{409.00361117886365, 251.82615622621091}, {8, 134}}</string>
+							<key>Class</key>
+							<string>ShapedGraphic</string>
+							<key>ID</key>
+							<integer>387</integer>
+							<key>Rotation</key>
+							<real>300</real>
+							<key>Shape</key>
+							<string>Rectangle</string>
+						</dict>
+						<dict>
+							<key>Bounds</key>
+							<string>{{285.65882358120746, 179.77439325790914}, {8, 134}}</string>
+							<key>Class</key>
+							<string>ShapedGraphic</string>
+							<key>ID</key>
+							<integer>388</integer>
+							<key>Rotation</key>
+							<real>300</real>
+							<key>Shape</key>
+							<string>Rectangle</string>
+						</dict>
+						<dict>
+							<key>Bounds</key>
+							<string>{{285.65881327292152, 251.82616124293514}, {8, 134}}</string>
+							<key>Class</key>
+							<string>ShapedGraphic</string>
+							<key>ID</key>
+							<integer>389</integer>
+							<key>Rotation</key>
+							<real>60</real>
+							<key>Shape</key>
+							<string>Rectangle</string>
+						</dict>
+						<dict>
+							<key>Bounds</key>
+							<string>{{409.00362148715112, 179.77439325790914}, {8, 134}}</string>
+							<key>Class</key>
+							<string>ShapedGraphic</string>
+							<key>ID</key>
+							<integer>390</integer>
+							<key>Rotation</key>
+							<real>60</real>
+							<key>Shape</key>
+							<string>Rectangle</string>
+						</dict>
+						<dict>
+							<key>Class</key>
+							<string>Group</string>
+							<key>Graphics</key>
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+								<dict>
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+									<string>{{339.48495483398165, 134.49999872844211}, {24, 24}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>392</integer>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>Text</key>
+										<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
+\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
+{\colortbl;\red255\green255\blue255;}
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+\f0\fs24 \cf0 1}</string>
+										<key>VerticalPad</key>
+										<integer>0</integer>
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+									<key>Class</key>
+									<string>Group</string>
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+									<array>
+										<dict>
+											<key>Class</key>
+											<string>LineGraphic</string>
+											<key>ID</key>
+											<integer>394</integer>
+											<key>Points</key>
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+												<string>{402.0732828776022, 163.24999491373569}</string>
+												<string>{399.69828287760214, 162.49999491373558}</string>
+											</array>
+											<key>Style</key>
+											<dict>
+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
+												</dict>
+											</dict>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{293.07328287760191, 141.99999491373558}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>395</integer>
+											<key>Rotation</key>
+											<real>90</real>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{300.57328287760208, 95.999994913735577}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>396</integer>
+											<key>Rotation</key>
+											<real>180</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{297.82328287760208, 93.249994913735577}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>397</integer>
+											<key>Rotation</key>
+											<real>180</real>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+										</dict>
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+									<key>ID</key>
+									<integer>393</integer>
+								</dict>
+								<dict>
+									<key>Class</key>
+									<string>Group</string>
+									<key>Graphics</key>
+									<array>
+										<dict>
+											<key>Class</key>
+											<string>LineGraphic</string>
+											<key>ID</key>
+											<integer>399</integer>
+											<key>Points</key>
+											<array>
+												<string>{300.90661621093551, 130}</string>
+												<string>{303.28161621093551, 130.75}</string>
+											</array>
+											<key>Style</key>
+											<dict>
+												<key>stroke</key>
+												<dict>
+													<key>HeadArrow</key>
+													<string>0</string>
+													<key>Legacy</key>
+													<true/>
+													<key>TailArrow</key>
+													<string>0</string>
+												</dict>
+											</dict>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{393.90661621093545, 132.75}, {16, 18.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>400</integer>
+											<key>Rotation</key>
+											<real>270</real>
+											<key>Shape</key>
+											<string>HorizontalTriangle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{300.90661621093551, 95.75}, {101.5, 101.5}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>401</integer>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{298.15661621093551, 93}, {107, 107}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>HFlip</key>
+											<string>YES</string>
+											<key>ID</key>
+											<integer>402</integer>
+											<key>Shape</key>
+											<string>AdjustableArc</string>
+											<key>ShapeData</key>
+											<dict>
+												<key>endAngle</key>
+												<real>72</real>
+												<key>startAngle</key>
+												<real>281</real>
+											</dict>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>TextRelativeArea</key>
+											<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+										</dict>
+									</array>
+									<key>ID</key>
+									<integer>398</integer>
+								</dict>
+								<dict>
+									<key>Bounds</key>
+									<string>{{300.5732727050754, 95.588311513272842}, {101.82337649086284, 101.82337649086284}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>403</integer>
+									<key>Shape</key>
+									<string>Circle</string>
+									<key>Style</key>
+									<dict>
+										<key>fill</key>
+										<dict>
+											<key>Color</key>
+											<dict>
+												<key>a</key>
+												<string>0.78</string>
+												<key>b</key>
+												<string>0.234512</string>
+												<key>g</key>
+												<string>0.673128</string>
+												<key>r</key>
+												<string>0.148947</string>
+											</dict>
+										</dict>
+										<key>shadow</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+										<key>stroke</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>VerticalPad</key>
+										<integer>0</integer>
+									</dict>
+								</dict>
+							</array>
+							<key>ID</key>
+							<integer>391</integer>
+						</dict>
+						<dict>
+							<key>Bounds</key>
+							<string>{{347.48996988932038, 287.41665649414062}, {8, 134}}</string>
+							<key>Class</key>
+							<string>ShapedGraphic</string>
+							<key>ID</key>
+							<integer>404</integer>
+							<key>Shape</key>
+							<string>Rectangle</string>
+						</dict>
+						<dict>
+							<key>Bounds</key>
+							<string>{{347.4899597167942, 145.33333333333331}, {8, 134}}</string>
+							<key>Class</key>
+							<string>ShapedGraphic</string>
+							<key>ID</key>
+							<integer>405</integer>
+							<key>Shape</key>
+							<string>Rectangle</string>
+						</dict>
+					</array>
+					<key>ID</key>
+					<integer>318</integer>
+				</dict>
+			</array>
+			<key>GridInfo</key>
+			<dict/>
+			<key>HPages</key>
+			<integer>1</integer>
+			<key>KeepToScale</key>
+			<false/>
+			<key>Layers</key>
+			<array>
+				<dict>
+					<key>Lock</key>
+					<string>NO</string>
+					<key>Name</key>
+					<string>Layer 1</string>
+					<key>Print</key>
+					<string>YES</string>
+					<key>View</key>
+					<string>YES</string>
+				</dict>
+			</array>
+			<key>LayoutInfo</key>
+			<dict>
+				<key>Animate</key>
+				<string>NO</string>
+				<key>circoMinDist</key>
+				<real>18</real>
+				<key>circoSeparation</key>
+				<real>0.0</real>
+				<key>layoutEngine</key>
+				<string>dot</string>
+				<key>neatoSeparation</key>
+				<real>0.0</real>
+				<key>twopiSeparation</key>
+				<real>0.0</real>
+			</dict>
+			<key>Orientation</key>
+			<integer>2</integer>
+			<key>PrintOnePage</key>
+			<false/>
+			<key>RowAlign</key>
+			<integer>1</integer>
+			<key>RowSpacing</key>
+			<real>36</real>
+			<key>SheetTitle</key>
+			<string>Rotor Assignment 2</string>
+			<key>UniqueID</key>
+			<integer>3</integer>
+			<key>VPages</key>
+			<integer>1</integer>
+		</dict>
+		<dict>
+			<key>ActiveLayerIndex</key>
+			<integer>0</integer>
+			<key>AutoAdjust</key>
+			<true/>
+			<key>BackgroundGraphic</key>
+			<dict>
+				<key>Bounds</key>
+				<string>{{0, 0}, {806, 1132}}</string>
+				<key>Class</key>
+				<string>SolidGraphic</string>
+				<key>ID</key>
+				<integer>2</integer>
+				<key>Style</key>
+				<dict>
+					<key>shadow</key>
+					<dict>
+						<key>Draws</key>
+						<string>NO</string>
+					</dict>
+					<key>stroke</key>
+					<dict>
+						<key>Draws</key>
+						<string>NO</string>
+					</dict>
+				</dict>
+			</dict>
+			<key>BaseZoom</key>
+			<integer>0</integer>
+			<key>CanvasOrigin</key>
+			<string>{0, 0}</string>
+			<key>ColumnAlign</key>
+			<integer>1</integer>
+			<key>ColumnSpacing</key>
+			<real>36</real>
+			<key>DisplayScale</key>
+			<string>1 0/72 in = 1.0000 in</string>
+			<key>GraphicsList</key>
+			<array>
+				<dict>
+					<key>Class</key>
+					<string>Group</string>
+					<key>Graphics</key>
+					<array>
+						<dict>
+							<key>Class</key>
+							<string>Group</string>
+							<key>Graphics</key>
+							<array>
+								<dict>
+									<key>Bounds</key>
+									<string>{{317.51000800051321, 240.42163882949882}, {50.666667938232422, 36}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1417</integer>
+									<key>Rotation</key>
+									<real>270</real>
+									<key>Shape</key>
+									<string>HorizontalTriangle</string>
+									<key>Style</key>
+									<dict>
+										<key>fill</key>
+										<dict>
+											<key>Color</key>
+											<dict>
+												<key>b</key>
+												<string>0.13195</string>
+												<key>g</key>
+												<string>0.165669</string>
+												<key>r</key>
+												<string>1</string>
+											</dict>
+										</dict>
+									</dict>
+									<key>Text</key>
+									<dict>
+										<key>VerticalPad</key>
+										<integer>0</integer>
+									</dict>
+								</dict>
+								<dict>
+									<key>Bounds</key>
+									<string>{{306.84335619815613, 227.6666597724805}, {72, 72}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1418</integer>
+									<key>Rotation</key>
+									<real>45</real>
+									<key>Shape</key>
+									<string>Rectangle</string>
+									<key>Style</key>
+									<dict>
+										<key>stroke</key>
+										<dict>
+											<key>CornerRadius</key>
+											<real>9</real>
+										</dict>
+									</dict>
+								</dict>
+							</array>
+							<key>ID</key>
+							<integer>1416</integer>
+						</dict>
+						<dict>
+							<key>Class</key>
+							<string>Group</string>
+							<key>Graphics</key>
+							<array>
+								<dict>
+									<key>Class</key>
+									<string>Group</string>
+									<key>Graphics</key>
+									<array>
+										<dict>
+											<key>Bounds</key>
+											<string>{{181.87174317649047, 313.76849034719959}, {24, 24}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>ID</key>
+											<integer>1421</integer>
+											<key>Shape</key>
+											<string>Circle</string>
+											<key>Style</key>
+											<dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>Text</key>
+												<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
+\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
+{\colortbl;\red255\green255\blue255;}
+\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc
+
+\f0\fs24 \cf0 6}</string>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Class</key>
+											<string>Group</string>
+											<key>Graphics</key>
+											<array>
+												<dict>
+													<key>Class</key>
+													<string>LineGraphic</string>
+													<key>ID</key>
+													<integer>1423</integer>
+													<key>Points</key>
+													<array>
+														<string>{159.49938242361688, 285.249576623557}</string>
+														<string>{161.10116522486757, 287.15677793899749}</string>
+													</array>
+													<key>Style</key>
+													<dict>
+														<key>stroke</key>
+														<dict>
+															<key>HeadArrow</key>
+															<string>0</string>
+															<key>Legacy</key>
+															<true/>
+															<key>TailArrow</key>
+															<string>0</string>
+														</dict>
+													</dict>
+												</dict>
+												<dict>
+													<key>Bounds</key>
+													<string>{{201.23696348262672, 364.71920821881605}, {16, 18.5}}</string>
+													<key>Class</key>
+													<string>ShapedGraphic</string>
+													<key>HFlip</key>
+													<string>YES</string>
+													<key>ID</key>
+													<integer>1424</integer>
+													<key>Rotation</key>
+													<real>157.5</real>
+													<key>Shape</key>
+													<string>HorizontalTriangle</string>
+													<key>Style</key>
+													<dict>
+														<key>shadow</key>
+														<dict>
+															<key>Draws</key>
+															<string>NO</string>
+														</dict>
+													</dict>
+													<key>Text</key>
+													<dict>
+														<key>VerticalPad</key>
+														<integer>0</integer>
+													</dict>
+													<key>VFlip</key>
+													<string>YES</string>
+												</dict>
+												<dict>
+													<key>Bounds</key>
+													<string>{{143.41457890258161, 275.07218626448082}, {101.5, 101.5}}</string>
+													<key>Class</key>
+													<string>ShapedGraphic</string>
+													<key>HFlip</key>
+													<string>YES</string>
+													<key>ID</key>
+													<integer>1425</integer>
+													<key>Rotation</key>
+													<real>67.5</real>
+													<key>Shape</key>
+													<string>AdjustableArc</string>
+													<key>ShapeData</key>
+													<dict>
+														<key>endAngle</key>
+														<real>72</real>
+														<key>startAngle</key>
+														<real>281</real>
+													</dict>
+													<key>Style</key>
+													<dict>
+														<key>fill</key>
+														<dict>
+															<key>Draws</key>
+															<string>NO</string>
+														</dict>
+														<key>shadow</key>
+														<dict>
+															<key>Draws</key>
+															<string>NO</string>
+														</dict>
+													</dict>
+													<key>Text</key>
+													<dict>
+														<key>VerticalPad</key>
+														<integer>0</integer>
+													</dict>
+													<key>TextRelativeArea</key>
+													<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+													<key>VFlip</key>
+													<string>YES</string>
+												</dict>
+												<dict>
+													<key>Bounds</key>
+													<string>{{140.66457890258161, 272.32218626448082}, {107, 107}}</string>
+													<key>Class</key>
+													<string>ShapedGraphic</string>
+													<key>HFlip</key>
+													<string>YES</string>
+													<key>ID</key>
+													<integer>1426</integer>
+													<key>Rotation</key>
+													<real>67.5</real>
+													<key>Shape</key>
+													<string>AdjustableArc</string>
+													<key>ShapeData</key>
+													<dict>
+														<key>endAngle</key>
+														<real>72</real>
+														<key>startAngle</key>
+														<real>281</real>
+													</dict>
+													<key>Style</key>
+													<dict>
+														<key>fill</key>
+														<dict>
+															<key>Draws</key>
+															<string>NO</string>
+														</dict>
+														<key>shadow</key>
+														<dict>
+															<key>Draws</key>
+															<string>NO</string>
+														</dict>
+													</dict>
+													<key>Text</key>
+													<dict>
+														<key>VerticalPad</key>
+														<integer>0</integer>
+													</dict>
+													<key>TextRelativeArea</key>
+													<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+													<key>VFlip</key>
+													<string>YES</string>
+												</dict>
+											</array>
+											<key>ID</key>
+											<integer>1422</integer>
+											<key>Rotation</key>
+											<real>247.5</real>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Class</key>
+											<string>Group</string>
+											<key>Graphics</key>
+											<array>
+												<dict>
+													<key>Class</key>
+													<string>LineGraphic</string>
+													<key>ID</key>
+													<integer>1428</integer>
+													<key>Points</key>
+													<array>
+														<string>{228.47124867019181, 366.1825051496383}</string>
+														<string>{226.8694658689414, 364.27530383419804}</string>
+													</array>
+													<key>Style</key>
+													<dict>
+														<key>stroke</key>
+														<dict>
+															<key>HeadArrow</key>
+															<string>0</string>
+															<key>Legacy</key>
+															<true/>
+															<key>TailArrow</key>
+															<string>0</string>
+														</dict>
+													</dict>
+												</dict>
+												<dict>
+													<key>Bounds</key>
+													<string>{{170.73366761118237, 268.21287355437971}, {16, 18.5}}</string>
+													<key>Class</key>
+													<string>ShapedGraphic</string>
+													<key>HFlip</key>
+													<string>YES</string>
+													<key>ID</key>
+													<integer>1429</integer>
+													<key>Rotation</key>
+													<real>337.5</real>
+													<key>Shape</key>
+													<string>HorizontalTriangle</string>
+													<key>Style</key>
+													<dict>
+														<key>shadow</key>
+														<dict>
+															<key>Draws</key>
+															<string>NO</string>
+														</dict>
+													</dict>
+													<key>Text</key>
+													<dict>
+														<key>VerticalPad</key>
+														<integer>0</integer>
+													</dict>
+													<key>VFlip</key>
+													<string>YES</string>
+												</dict>
+												<dict>
+													<key>Bounds</key>
+													<string>{{143.05605219122737, 274.85989550871483}, {101.5, 101.5}}</string>
+													<key>Class</key>
+													<string>ShapedGraphic</string>
+													<key>HFlip</key>
+													<string>YES</string>
+													<key>ID</key>
+													<integer>1430</integer>
+													<key>Rotation</key>
+													<real>247.5</real>
+													<key>Shape</key>
+													<string>AdjustableArc</string>
+													<key>ShapeData</key>
+													<dict>
+														<key>endAngle</key>
+														<real>72</real>
+														<key>startAngle</key>
+														<real>281</real>
+													</dict>
+													<key>Style</key>
+													<dict>
+														<key>fill</key>
+														<dict>
+															<key>Draws</key>
+															<string>NO</string>
+														</dict>
+														<key>shadow</key>
+														<dict>
+															<key>Draws</key>
+															<string>NO</string>
+														</dict>
+													</dict>
+													<key>Text</key>
+													<dict>
+														<key>VerticalPad</key>
+														<integer>0</integer>
+													</dict>
+													<key>TextRelativeArea</key>
+													<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+													<key>VFlip</key>
+													<string>YES</string>
+												</dict>
+												<dict>
+													<key>Bounds</key>
+													<string>{{140.30605219122737, 272.10989550871483}, {107, 107}}</string>
+													<key>Class</key>
+													<string>ShapedGraphic</string>
+													<key>HFlip</key>
+													<string>YES</string>
+													<key>ID</key>
+													<integer>1431</integer>
+													<key>Rotation</key>
+													<real>247.5</real>
+													<key>Shape</key>
+													<string>AdjustableArc</string>
+													<key>ShapeData</key>
+													<dict>
+														<key>endAngle</key>
+														<real>72</real>
+														<key>startAngle</key>
+														<real>281</real>
+													</dict>
+													<key>Style</key>
+													<dict>
+														<key>fill</key>
+														<dict>
+															<key>Draws</key>
+															<string>NO</string>
+														</dict>
+														<key>shadow</key>
+														<dict>
+															<key>Draws</key>
+															<string>NO</string>
+														</dict>
+													</dict>
+													<key>Text</key>
+													<dict>
+														<key>VerticalPad</key>
+														<integer>0</integer>
+													</dict>
+													<key>TextRelativeArea</key>
+													<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+													<key>VFlip</key>
+													<string>YES</string>
+												</dict>
+											</array>
+											<key>ID</key>
+											<integer>1427</integer>
+											<key>Rotation</key>
+											<real>247.5</real>
+											<key>VFlip</key>
+											<string>YES</string>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{142.96005354220407, 274.85679605657162}, {101.82337649086284, 101.82337649086284}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>ID</key>
+											<integer>1432</integer>
+											<key>Rotation</key>
+											<real>247.5</real>
+											<key>Shape</key>
+											<string>Circle</string>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Color</key>
+													<dict>
+														<key>a</key>
+														<string>0.78</string>
+														<key>b</key>
+														<string>0.673128</string>
+														<key>g</key>
+														<string>0.534129</string>
+														<key>r</key>
+														<string>0.217952</string>
+													</dict>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
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+												<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
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+														<string>{251.34783611542343, 77.121385885312606}</string>
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+															<string>0</string>
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+															<true/>
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+														<dict>
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+													<real>67.5</real>
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+											<real>247.5</real>
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+											<string>YES</string>
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+															<string>0</string>
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+															<string>0</string>
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+													<real>337.5</real>
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+														<dict>
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+															<string>NO</string>
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+														<integer>0</integer>
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+													<string>YES</string>
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+													<integer>1443</integer>
+													<key>Rotation</key>
+													<real>247.5</real>
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+														<real>281</real>
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+															<string>NO</string>
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+														<key>shadow</key>
+														<dict>
+															<key>Draws</key>
+															<string>NO</string>
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+													<string>YES</string>
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+													<real>247.5</real>
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+													<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
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+													<string>YES</string>
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+											<string>YES</string>
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+											<string>YES</string>
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+														<integer>0</integer>
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+															<key>Draws</key>
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+													<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
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+													<string>YES</string>
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+											<real>247.5</real>
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+											<string>YES</string>
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+															<true/>
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+													<integer>1455</integer>
+													<key>Rotation</key>
+													<real>337.5</real>
+													<key>Shape</key>
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+														<dict>
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+															<string>NO</string>
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+													<key>Text</key>
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+														<integer>0</integer>
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+													<key>VFlip</key>
+													<string>YES</string>
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+													<real>247.5</real>
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+														<key>startAngle</key>
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+															<key>Draws</key>
+															<string>NO</string>
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+														<key>shadow</key>
+														<dict>
+															<key>Draws</key>
+															<string>NO</string>
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+													<key>Text</key>
+													<dict>
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+														<integer>0</integer>
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+													<key>TextRelativeArea</key>
+													<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+													<key>VFlip</key>
+													<string>YES</string>
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+												<dict>
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+													<string>{{350.54709694165621, 359.19460374073327}, {107, 107}}</string>
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+													<string>ShapedGraphic</string>
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+													<key>Rotation</key>
+													<real>247.5</real>
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+													<key>ShapeData</key>
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+														<real>72</real>
+														<key>startAngle</key>
+														<real>281</real>
+													</dict>
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+															<string>NO</string>
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+														<dict>
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+													<key>Text</key>
+													<dict>
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+														<integer>0</integer>
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+													<key>TextRelativeArea</key>
+													<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+													<key>VFlip</key>
+													<string>YES</string>
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+											<key>ID</key>
+											<integer>1453</integer>
+											<key>Rotation</key>
+											<real>247.5</real>
+											<key>VFlip</key>
+											<string>YES</string>
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+										<dict>
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+											<string>{{353.20109829263305, 361.94150428859024}, {101.82337649086284, 101.82337649086284}}</string>
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+											<real>247.5</real>
+											<key>Shape</key>
+											<string>Circle</string>
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+												<dict>
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+														<string>0.78</string>
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+														<string>0.673128</string>
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+														<string>0.534129</string>
+														<key>r</key>
+														<string>0.217952</string>
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+												<key>shadow</key>
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+													<string>NO</string>
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+												<key>stroke</key>
+												<dict>
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+											<key>Text</key>
+											<dict>
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+												<integer>0</integer>
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+											<string>YES</string>
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+												<dict>
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+													<string>NO</string>
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+															<string>0</string>
+															<key>Legacy</key>
+															<true/>
+															<key>TailArrow</key>
+															<string>0</string>
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+													<string>ShapedGraphic</string>
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+													<key>Rotation</key>
+													<real>157.5</real>
+													<key>Shape</key>
+													<string>HorizontalTriangle</string>
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+														<key>shadow</key>
+														<dict>
+															<key>Draws</key>
+															<string>NO</string>
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+													<key>Text</key>
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+														<key>VerticalPad</key>
+														<integer>0</integer>
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+													<key>VFlip</key>
+													<string>YES</string>
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+													<real>67.5</real>
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+													<string>AdjustableArc</string>
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+														<real>72</real>
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+														<real>281</real>
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+														<key>fill</key>
+														<dict>
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+															<string>NO</string>
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+														<key>shadow</key>
+														<dict>
+															<key>Draws</key>
+															<string>NO</string>
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+														<integer>0</integer>
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+													<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+													<key>VFlip</key>
+													<string>YES</string>
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+													<string>{{438.38067313117307, 148.2234433028697}, {107, 107}}</string>
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+													<string>YES</string>
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+													<key>Rotation</key>
+													<real>67.5</real>
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+													<string>AdjustableArc</string>
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+														<real>72</real>
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+														<real>281</real>
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+														<key>fill</key>
+														<dict>
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+															<string>NO</string>
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+														<key>shadow</key>
+														<dict>
+															<key>Draws</key>
+															<string>NO</string>
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+														<integer>0</integer>
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+													<key>TextRelativeArea</key>
+													<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+													<key>VFlip</key>
+													<string>YES</string>
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+											<real>247.5</real>
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+											<string>YES</string>
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+													<key>Class</key>
+													<string>LineGraphic</string>
+													<key>ID</key>
+													<integer>1467</integer>
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+															<string>0</string>
+															<key>Legacy</key>
+															<true/>
+															<key>TailArrow</key>
+															<string>0</string>
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+													<key>Class</key>
+													<string>ShapedGraphic</string>
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+													<string>YES</string>
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+													<integer>1468</integer>
+													<key>Rotation</key>
+													<real>337.5</real>
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+													<string>HorizontalTriangle</string>
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+													<dict>
+														<key>shadow</key>
+														<dict>
+															<key>Draws</key>
+															<string>NO</string>
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+													<key>Text</key>
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+														<key>VerticalPad</key>
+														<integer>0</integer>
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+													<key>VFlip</key>
+													<string>YES</string>
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+													<key>Bounds</key>
+													<string>{{440.77214680301904, 150.76115237036112}, {101.5, 101.5}}</string>
+													<key>Class</key>
+													<string>ShapedGraphic</string>
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+													<integer>1469</integer>
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+													<real>247.5</real>
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+													<string>AdjustableArc</string>
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+														<key>endAngle</key>
+														<real>72</real>
+														<key>startAngle</key>
+														<real>281</real>
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+													<key>Style</key>
+													<dict>
+														<key>fill</key>
+														<dict>
+															<key>Draws</key>
+															<string>NO</string>
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+														<key>shadow</key>
+														<dict>
+															<key>Draws</key>
+															<string>NO</string>
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+													</dict>
+													<key>Text</key>
+													<dict>
+														<key>VerticalPad</key>
+														<integer>0</integer>
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+													<key>TextRelativeArea</key>
+													<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+													<key>VFlip</key>
+													<string>YES</string>
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+												<dict>
+													<key>Bounds</key>
+													<string>{{438.02214680301904, 148.01115237036112}, {107, 107}}</string>
+													<key>Class</key>
+													<string>ShapedGraphic</string>
+													<key>HFlip</key>
+													<string>YES</string>
+													<key>ID</key>
+													<integer>1470</integer>
+													<key>Rotation</key>
+													<real>247.5</real>
+													<key>Shape</key>
+													<string>AdjustableArc</string>
+													<key>ShapeData</key>
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+														<real>72</real>
+														<key>startAngle</key>
+														<real>281</real>
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+														<key>fill</key>
+														<dict>
+															<key>Draws</key>
+															<string>NO</string>
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+														<dict>
+															<key>Draws</key>
+															<string>NO</string>
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+														<integer>0</integer>
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+													<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+													<key>VFlip</key>
+													<string>YES</string>
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+											<real>247.5</real>
+											<key>VFlip</key>
+											<string>YES</string>
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+										<dict>
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+											<string>{{440.67614795890404, 150.75805299902771}, {101.82337649086284, 101.82337649086284}}</string>
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+											<real>247.5</real>
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+											<string>Circle</string>
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+														<string>0.78</string>
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+														<string>0.673128</string>
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+														<string>0.534129</string>
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+														<string>0.217952</string>
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+													<string>NO</string>
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+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
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+												<integer>0</integer>
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+											<string>YES</string>
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+									<integer>1459</integer>
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+									<real>337.5</real>
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+									<string>{{324.9947377700048, 478.76189426912856}, {46, 14}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>FitText</key>
+									<string>YES</string>
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+									<string>Resize</string>
+									<key>ID</key>
+									<integer>1472</integer>
+									<key>Shape</key>
+									<string>Rectangle</string>
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+											<string>NO</string>
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+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
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+										<key>stroke</key>
+										<dict>
+											<key>Draws</key>
+											<string>NO</string>
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+									<key>Text</key>
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+														<string>{459.47976189091298, 106.26624457633855}</string>
+														<string>{456.99853544130355, 106.48220824401977}</string>
+													</array>
+													<key>Style</key>
+													<dict>
+														<key>stroke</key>
+														<dict>
+															<key>HeadArrow</key>
+															<string>0</string>
+															<key>Legacy</key>
+															<true/>
+															<key>TailArrow</key>
+															<string>0</string>
+														</dict>
+													</dict>
+												</dict>
+												<dict>
+													<key>Bounds</key>
+													<string>{{353.57572975410767, 124.58072337343253}, {16, 18.5}}</string>
+													<key>Class</key>
+													<string>ShapedGraphic</string>
+													<key>HFlip</key>
+													<string>YES</string>
+													<key>ID</key>
+													<integer>1519</integer>
+													<key>Rotation</key>
+													<real>67.5</real>
+													<key>Shape</key>
+													<string>HorizontalTriangle</string>
+													<key>Style</key>
+													<dict>
+														<key>shadow</key>
+														<dict>
+															<key>Draws</key>
+															<string>NO</string>
+														</dict>
+													</dict>
+													<key>Text</key>
+													<dict>
+														<key>VerticalPad</key>
+														<integer>0</integer>
+													</dict>
+												</dict>
+												<dict>
+													<key>Bounds</key>
+													<string>{{355.52859926005328, 59.693420024512235}, {101.5, 101.5}}</string>
+													<key>Class</key>
+													<string>ShapedGraphic</string>
+													<key>HFlip</key>
+													<string>YES</string>
+													<key>ID</key>
+													<integer>1520</integer>
+													<key>Rotation</key>
+													<real>157.5</real>
+													<key>Shape</key>
+													<string>AdjustableArc</string>
+													<key>ShapeData</key>
+													<dict>
+														<key>endAngle</key>
+														<real>72</real>
+														<key>startAngle</key>
+														<real>281</real>
+													</dict>
+													<key>Style</key>
+													<dict>
+														<key>fill</key>
+														<dict>
+															<key>Draws</key>
+															<string>NO</string>
+														</dict>
+														<key>shadow</key>
+														<dict>
+															<key>Draws</key>
+															<string>NO</string>
+														</dict>
+													</dict>
+													<key>Text</key>
+													<dict>
+														<key>VerticalPad</key>
+														<integer>0</integer>
+													</dict>
+													<key>TextRelativeArea</key>
+													<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+												</dict>
+												<dict>
+													<key>Bounds</key>
+													<string>{{352.77859926005328, 56.943420024512235}, {107, 107}}</string>
+													<key>Class</key>
+													<string>ShapedGraphic</string>
+													<key>HFlip</key>
+													<string>YES</string>
+													<key>ID</key>
+													<integer>1521</integer>
+													<key>Rotation</key>
+													<real>157.5</real>
+													<key>Shape</key>
+													<string>AdjustableArc</string>
+													<key>ShapeData</key>
+													<dict>
+														<key>endAngle</key>
+														<real>72</real>
+														<key>startAngle</key>
+														<real>281</real>
+													</dict>
+													<key>Style</key>
+													<dict>
+														<key>fill</key>
+														<dict>
+															<key>Draws</key>
+															<string>NO</string>
+														</dict>
+														<key>shadow</key>
+														<dict>
+															<key>Draws</key>
+															<string>NO</string>
+														</dict>
+													</dict>
+													<key>Text</key>
+													<dict>
+														<key>VerticalPad</key>
+														<integer>0</integer>
+													</dict>
+													<key>TextRelativeArea</key>
+													<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+												</dict>
+											</array>
+											<key>ID</key>
+											<integer>1517</integer>
+											<key>Rotation</key>
+											<real>337.5</real>
+										</dict>
+										<dict>
+											<key>Class</key>
+											<string>Group</string>
+											<key>Graphics</key>
+											<array>
+												<dict>
+													<key>Class</key>
+													<string>LineGraphic</string>
+													<key>ID</key>
+													<integer>1523</integer>
+													<key>Points</key>
+													<array>
+														<string>{353.28972753783154, 114.26206913039776}</string>
+														<string>{355.77095398744109, 114.04610546271654}</string>
+													</array>
+													<key>Style</key>
+													<dict>
+														<key>stroke</key>
+														<dict>
+															<key>HeadArrow</key>
+															<string>0</string>
+															<key>Legacy</key>
+															<true/>
+															<key>TailArrow</key>
+															<string>0</string>
+														</dict>
+													</dict>
+												</dict>
+												<dict>
+													<key>Bounds</key>
+													<string>{{443.19375967463657, 77.447590333303964}, {16, 18.5}}</string>
+													<key>Class</key>
+													<string>ShapedGraphic</string>
+													<key>HFlip</key>
+													<string>YES</string>
+													<key>ID</key>
+													<integer>1524</integer>
+													<key>Rotation</key>
+													<real>247.5</real>
+													<key>Shape</key>
+													<string>HorizontalTriangle</string>
+													<key>Style</key>
+													<dict>
+														<key>shadow</key>
+														<dict>
+															<key>Draws</key>
+															<string>NO</string>
+														</dict>
+													</dict>
+													<key>Text</key>
+													<dict>
+														<key>VerticalPad</key>
+														<integer>0</integer>
+													</dict>
+												</dict>
+												<dict>
+													<key>Bounds</key>
+													<string>{{355.74089016869129, 59.33489368222402}, {101.5, 101.5}}</string>
+													<key>Class</key>
+													<string>ShapedGraphic</string>
+													<key>HFlip</key>
+													<string>YES</string>
+													<key>ID</key>
+													<integer>1525</integer>
+													<key>Rotation</key>
+													<real>337.5</real>
+													<key>Shape</key>
+													<string>AdjustableArc</string>
+													<key>ShapeData</key>
+													<dict>
+														<key>endAngle</key>
+														<real>72</real>
+														<key>startAngle</key>
+														<real>281</real>
+													</dict>
+													<key>Style</key>
+													<dict>
+														<key>fill</key>
+														<dict>
+															<key>Draws</key>
+															<string>NO</string>
+														</dict>
+														<key>shadow</key>
+														<dict>
+															<key>Draws</key>
+															<string>NO</string>
+														</dict>
+													</dict>
+													<key>Text</key>
+													<dict>
+														<key>VerticalPad</key>
+														<integer>0</integer>
+													</dict>
+													<key>TextRelativeArea</key>
+													<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+												</dict>
+												<dict>
+													<key>Bounds</key>
+													<string>{{352.99089016869129, 56.58489368222402}, {107, 107}}</string>
+													<key>Class</key>
+													<string>ShapedGraphic</string>
+													<key>HFlip</key>
+													<string>YES</string>
+													<key>ID</key>
+													<integer>1526</integer>
+													<key>Rotation</key>
+													<real>337.5</real>
+													<key>Shape</key>
+													<string>AdjustableArc</string>
+													<key>ShapeData</key>
+													<dict>
+														<key>endAngle</key>
+														<real>72</real>
+														<key>startAngle</key>
+														<real>281</real>
+													</dict>
+													<key>Style</key>
+													<dict>
+														<key>fill</key>
+														<dict>
+															<key>Draws</key>
+															<string>NO</string>
+														</dict>
+														<key>shadow</key>
+														<dict>
+															<key>Draws</key>
+															<string>NO</string>
+														</dict>
+													</dict>
+													<key>Text</key>
+													<dict>
+														<key>VerticalPad</key>
+														<integer>0</integer>
+													</dict>
+													<key>TextRelativeArea</key>
+													<string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string>
+												</dict>
+											</array>
+											<key>ID</key>
+											<integer>1522</integer>
+											<key>Rotation</key>
+											<real>337.5</real>
+										</dict>
+										<dict>
+											<key>Bounds</key>
+											<string>{{355.42061305353548, 59.238894848667528}, {101.82337649086284, 101.82337649086284}}</string>
+											<key>Class</key>
+											<string>ShapedGraphic</string>
+											<key>ID</key>
+											<integer>1527</integer>
+											<key>Rotation</key>
+											<real>337.5</real>
+											<key>Shape</key>
+											<string>Circle</string>
+											<key>Style</key>
+											<dict>
+												<key>fill</key>
+												<dict>
+													<key>Color</key>
+													<dict>
+														<key>a</key>
+														<string>0.78</string>
+														<key>b</key>
+														<string>0.234512</string>
+														<key>g</key>
+														<string>0.673128</string>
+														<key>r</key>
+														<string>0.148947</string>
+													</dict>
+												</dict>
+												<key>shadow</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+												<key>stroke</key>
+												<dict>
+													<key>Draws</key>
+													<string>NO</string>
+												</dict>
+											</dict>
+											<key>Text</key>
+											<dict>
+												<key>VerticalPad</key>
+												<integer>0</integer>
+											</dict>
+										</dict>
+									</array>
+									<key>ID</key>
+									<integer>1515</integer>
+									<key>Rotation</key>
+									<real>337.5</real>
+								</dict>
+								<dict>
+									<key>Bounds</key>
+									<string>{{252.46989794607327, 160.88960179706885}, {8, 134}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1528</integer>
+									<key>Rotation</key>
+									<real>292.50006103515625</real>
+									<key>Shape</key>
+									<string>Rectangle</string>
+								</dict>
+								<dict>
+									<key>Bounds</key>
+									<string>{{426.89836479441431, 161.02992820772749}, {8, 134}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1529</integer>
+									<key>Rotation</key>
+									<real>247.5</real>
+									<key>Shape</key>
+									<string>Rectangle</string>
+								</dict>
+								<dict>
+									<key>Bounds</key>
+									<string>{{302.52032988683095, 284.35823469264687}, {8, 134}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1530</integer>
+									<key>Rotation</key>
+									<real>22.500026702880859</real>
+									<key>Shape</key>
+									<string>Rectangle</string>
+								</dict>
+								<dict>
+									<key>Bounds</key>
+									<string>{{375.35774119930903, 108.51315184010758}, {8, 134}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1531</integer>
+									<key>Rotation</key>
+									<real>22.500026702880859</real>
+									<key>Shape</key>
+									<string>Rectangle</string>
+								</dict>
+								<dict>
+									<key>Bounds</key>
+									<string>{{303.4692327942559, 110.3467678696648}, {8, 134}}</string>
+									<key>Class</key>
+									<string>ShapedGraphic</string>
+									<key>ID</key>
+									<integer>1532</integer>
+									<key>Rotation</key>
+									<real>157.5</real>
+									<key>Shape</key>
+									<string>Rectangle</string>
+								</dict>
+							</array>
+							<key>ID</key>
+							<integer>1419</integer>
+							<key>Rotation</key>
+							<real>45</real>
+						</dict>
+					</array>
+					<key>ID</key>
+					<integer>1415</integer>
+				</dict>
+			</array>
+			<key>GridInfo</key>
+			<dict/>
+			<key>HPages</key>
+			<integer>1</integer>
+			<key>KeepToScale</key>
+			<false/>
+			<key>Layers</key>
+			<array>
+				<dict>
+					<key>Lock</key>
+					<string>NO</string>
+					<key>Name</key>
+					<string>Layer 1</string>
+					<key>Print</key>
+					<string>YES</string>
+					<key>View</key>
+					<string>YES</string>
+				</dict>
+			</array>
+			<key>LayoutInfo</key>
+			<dict>
+				<key>Animate</key>
+				<string>NO</string>
+				<key>circoMinDist</key>
+				<real>18</real>
+				<key>circoSeparation</key>
+				<real>0.0</real>
+				<key>layoutEngine</key>
+				<string>dot</string>
+				<key>neatoSeparation</key>
+				<real>0.0</real>
+				<key>twopiSeparation</key>
+				<real>0.0</real>
+			</dict>
+			<key>Orientation</key>
+			<integer>2</integer>
+			<key>PrintOnePage</key>
+			<false/>
+			<key>RowAlign</key>
+			<integer>1</integer>
+			<key>RowSpacing</key>
+			<real>36</real>
+			<key>SheetTitle</key>
+			<string>Rotor Assignment 3</string>
+			<key>UniqueID</key>
+			<integer>4</integer>
+			<key>VPages</key>
+			<integer>1</integer>
+		</dict>
+	</array>
+	<key>SmartAlignmentGuidesActive</key>
+	<string>YES</string>
+	<key>SmartDistanceGuidesActive</key>
+	<string>YES</string>
+	<key>UseEntirePage</key>
+	<false/>
+	<key>WindowInfo</key>
+	<dict>
+		<key>CurrentSheet</key>
+		<integer>4</integer>
+		<key>ExpandedCanvases</key>
+		<array>
+			<dict>
+				<key>name</key>
+				<string>Canvas 1</string>
+			</dict>
+		</array>
+		<key>Frame</key>
+		<string>{{96, 56}, {1043, 822}}</string>
+		<key>ListView</key>
+		<true/>
+		<key>OutlineWidth</key>
+		<integer>142</integer>
+		<key>RightSidebar</key>
+		<false/>
+		<key>ShowRuler</key>
+		<true/>
+		<key>Sidebar</key>
+		<true/>
+		<key>SidebarWidth</key>
+		<integer>120</integer>
+		<key>VisibleRegion</key>
+		<string>{{-51, -33}, {908, 683}}</string>
+		<key>Zoom</key>
+		<real>1</real>
+		<key>ZoomValues</key>
+		<array>
+			<array>
+				<string>Canvas 1</string>
+				<real>1</real>
+				<real>0.5</real>
+			</array>
+			<array>
+				<string>Rotor Assignments</string>
+				<real>1</real>
+				<real>4</real>
+			</array>
+			<array>
+				<string>Rotor Assignment 2</string>
+				<real>1</real>
+				<real>4</real>
+			</array>
+			<array>
+				<string>Rotor Assignment 3</string>
+				<real>1</real>
+				<real>1</real>
+			</array>
+			<array>
+				<string>Remote Control</string>
+				<real>1</real>
+				<real>1</real>
+			</array>
+		</array>
+	</dict>
+</dict>
+</plist>
diff --git a/Makefile b/Makefile
index e9442afd2..224910e0f 100644
--- a/Makefile
+++ b/Makefile
@@ -1,43 +1,53 @@
 #
-# Top-level Makefile for building PX4 firmware images.
-#
-#
-# Note that this is a transitional process; the eventual goal is for this
-# project to slim down and simply generate PX4 link kits via the NuttX
-# 'make export' mechanism.
-#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
 #
 
 #
-# Some useful paths.
+# Top-level Makefile for building PX4 firmware images.
 #
-export PX4BASE		 = $(realpath $(dir $(lastword $(MAKEFILE_LIST))))
-export NUTTX_SRC	 = $(PX4BASE)/nuttx
-export NUTTX_APPS	 = $(PX4BASE)/apps
-export MAVLINK_SRC	 = $(PX4BASE)/mavlink
-export ROMFS_SRC	 = $(PX4BASE)/ROMFS
-export IMAGE_DIR	 = $(PX4BASE)/Images
 
 #
-# Tools
+# Get path and tool configuration
 #
-MKFW			 = $(PX4BASE)/Tools/px_mkfw.py
-UPLOADER		 = $(PX4BASE)/Tools/px_uploader.py
+export PX4_BASE		 := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))/
+include $(PX4_BASE)makefiles/setup.mk
 
 #
-# What are we currently configured for?
+# Canned firmware configurations that we build.
 #
-CONFIGURED		 = $(PX4BASE)/.configured
-ifneq ($(wildcard $(CONFIGURED)),)
-export TARGET		:= $(shell cat $(CONFIGURED))
-endif
+CONFIGS			?= $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)config_*.mk))))
 
 #
-# What we will build
+# Boards that we build NuttX export kits for.
 #
-FIRMWARE_BUNDLE		 = $(IMAGE_DIR)/$(TARGET).px4
-FIRMWARE_BINARY		 = $(IMAGE_DIR)/$(TARGET).bin
-FIRMWARE_PROTOTYPE	 = $(IMAGE_DIR)/$(TARGET).prototype
+BOARDS			:= $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)board_*.mk))))
 
 #
 # Debugging
@@ -45,120 +55,151 @@ FIRMWARE_PROTOTYPE	 = $(IMAGE_DIR)/$(TARGET).prototype
 MQUIET			 = --no-print-directory
 #MQUIET			 = --print-directory
 
-all:			$(FIRMWARE_BUNDLE)
+################################################################################
+# No user-serviceable parts below
+################################################################################
 
 #
-# Generate a wrapped .px4 file from the built binary
+# If the user has listed a config as a target, strip it out and override CONFIGS.
 #
-$(FIRMWARE_BUNDLE):	$(FIRMWARE_BINARY) $(MKFW) $(FIRMWARE_PROTOTYPE)
-	@echo Generating $@
-	@$(MKFW) --prototype $(FIRMWARE_PROTOTYPE) \
-		--git_identity $(PX4BASE) \
-		--image $(FIRMWARE_BINARY) > $@
+FIRMWARE_GOAL		 = firmware
+EXPLICIT_CONFIGS	:= $(filter $(CONFIGS),$(MAKECMDGOALS))
+ifneq ($(EXPLICIT_CONFIGS),)
+CONFIGS			:= $(EXPLICIT_CONFIGS)
+.PHONY:			$(EXPLICIT_CONFIGS)
+$(EXPLICIT_CONFIGS):	all
 
 #
-# Build the firmware binary.
+# If the user has asked to upload, they must have also specified exactly one
+# config.
 #
-.PHONY:			$(FIRMWARE_BINARY)
-$(FIRMWARE_BINARY):	setup_$(TARGET) configure-check
-	@echo Building $@ for $(TARGET)
-	@make -C $(NUTTX_SRC) -r $(MQUIET) all
-	@cp $(NUTTX_SRC)/nuttx.bin $@
+ifneq ($(filter upload,$(MAKECMDGOALS)),)
+ifneq ($(words $(EXPLICIT_CONFIGS)),1)
+$(error In order to upload, exactly one board config must be specified)
+endif
+FIRMWARE_GOAL		 = upload
+.PHONY: upload
+upload:
+	@:
+endif
+endif
 
 #
-# The 'configure' targets select one particular firmware configuration
-# and makes it current.
+# Built products
 #
-configure_px4fmu:
-	@echo Configuring for px4fmu
-	@make -C $(PX4BASE) distclean
-	@cd $(NUTTX_SRC)/tools && /bin/sh configure.sh px4fmu/nsh
-	@echo px4fmu > $(CONFIGURED)
-
-configure_px4io:
-	@echo Configuring for px4io
-	@make -C $(PX4BASE) distclean
-	@cd $(NUTTX_SRC)/tools && /bin/sh configure.sh px4io/io
-	@echo px4io > $(CONFIGURED)
-
-configure-check:
-ifeq ($(wildcard $(CONFIGURED)),)
-	@echo
-	@echo "Not configured - use 'make configure_px4fmu' or 'make configure_px4io' first"
-	@echo
-	@exit 1
-endif
+STAGED_FIRMWARES	 = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4)
+FIRMWARES		 = $(foreach config,$(CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4)
 
+all:			$(STAGED_FIRMWARES)
 
 #
-# Per-configuration additional targets
+# Copy FIRMWARES into the image directory.
 #
-.PHONY:			px4fmu_setup
-setup_px4fmu:
-	@echo Generating ROMFS
-	@make -C $(ROMFS_SRC) all
-
-setup_px4io:
-
-# fake target to make configure-check happy if TARGET is not set
-setup_:
+$(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
+	@echo %% Copying $@
+	$(Q) $(COPY) $< $@
 
 #
-# Firmware uploading.
+# Generate FIRMWARES.
 #
-
-# serial port defaults by operating system.
-SYSTYPE			 = $(shell uname)
-ifeq ($(SYSTYPE),Darwin)
-SERIAL_PORTS		?= "/dev/tty.usbmodemPX1,/dev/tty.usbmodemPX2,/dev/tty.usbmodemPX3,/dev/tty.usbmodemPX4,/dev/tty.usbmodem1,/dev/tty.usbmodem2,/dev/tty.usbmodem3,/dev/tty.usbmodem4"
-endif
-ifeq ($(SYSTYPE),Linux)
-SERIAL_PORTS		?= "/dev/ttyACM5,/dev/ttyACM4,/dev/ttyACM3,/dev/ttyACM2,/dev/ttyACM1,/dev/ttyACM0"
-endif
-ifeq ($(SERIAL_PORTS),)
-SERIAL_PORTS		 = "\\\\.\\COM32,\\\\.\\COM31,\\\\.\\COM30,\\\\.\\COM29,\\\\.\\COM28,\\\\.\\COM27,\\\\.\\COM26,\\\\.\\COM25,\\\\.\\COM24,\\\\.\\COM23,\\\\.\\COM22,\\\\.\\COM21,\\\\.\\COM20,\\\\.\\COM19,\\\\.\\COM18,\\\\.\\COM17,\\\\.\\COM16,\\\\.\\COM15,\\\\.\\COM14,\\\\.\\COM13,\\\\.\\COM12,\\\\.\\COM11,\\\\.\\COM10,\\\\.\\COM9,\\\\.\\COM8,\\\\.\\COM7,\\\\.\\COM6,\\\\.\\COM5,\\\\.\\COM4,\\\\.\\COM3,\\\\.\\COM2,\\\\.\\COM1,\\\\.\\COM0"
-endif
-
-upload:		$(FIRMWARE_BUNDLE) $(UPLOADER)
-	$(UPLOADER) --port $(SERIAL_PORTS) $(FIRMWARE_BUNDLE)
+.PHONY: $(FIRMWARES)
+$(BUILD_DIR)%.build/firmware.px4: config   = $(patsubst $(BUILD_DIR)%.build/firmware.px4,%,$@)
+$(BUILD_DIR)%.build/firmware.px4: work_dir = $(BUILD_DIR)$(config).build/
+$(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:
+	@echo %%%%
+	@echo %%%% Building $(config) in $(work_dir)
+	@echo %%%%
+	$(Q) mkdir -p $(work_dir)
+	$(Q) make -r -C $(work_dir) \
+		-f $(PX4_MK_DIR)firmware.mk \
+		CONFIG=$(config) \
+		WORK_DIR=$(work_dir) \
+		$(FIRMWARE_GOAL)
 
 #
-# JTAG firmware uploading with OpenOCD
+# Build the NuttX export archives.
 #
-ifeq ($(JTAGCONFIG),)
-JTAGCONFIG=interface/olimex-jtag-tiny.cfg
-endif
-
-upload-jtag-px4fmu:
-	@echo Attempting to flash PX4FMU board via JTAG
-	@openocd -f $(JTAGCONFIG) -f ../Bootloader/stm32f4x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4fmu_bl.elf" -c "reset run" -c shutdown
-
-upload-jtag-px4io: all
-	@echo Attempting to flash PX4IO board via JTAG
-	@openocd -f $(JTAGCONFIG) -f ../Bootloader/stm32f1x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4io_bl.elf" -c "reset run" -c shutdown
-
+# Note that there are no explicit dependencies extended from these
+# archives. If NuttX is updated, the user is expected to rebuild the 
+# archives/build area manually. Likewise, when the 'archives' target is
+# invoked, all archives are always rebuilt.
 #
-# Hacks and fixups
+# XXX Should support fetching/unpacking from a separate directory to permit
+#     downloads of the prebuilt archives as well...
 #
+# XXX PX4IO configuration name is bad - NuttX configs should probably all be "px4"
+#
+NUTTX_ARCHIVES		 = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export)
+.PHONY:			archives
+archives:		$(NUTTX_ARCHIVES)
 
-ifeq ($(SYSTYPE),Darwin)
-# PATH inherited by Eclipse may not include toolchain install location 
-export PATH			 := $(PATH):/usr/local/bin
+# We cannot build these parallel; note that we also force -j1 for the
+# sub-make invocations.
+ifneq ($(filter archives,$(MAKECMDGOALS)),)
+.NOTPARALLEL:
 endif
 
+$(ARCHIVE_DIR)%.export:	board = $(notdir $(basename $@))
+$(ARCHIVE_DIR)%.export:	configuration = $(if $(filter $(board),px4io),io,nsh)
+$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC) $(NUTTX_APPS)
+	@echo %% Configuring NuttX for $(board)
+	$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
+	$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
+	$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
+	@echo %% Exporting NuttX for $(board)
+	$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) export
+	$(Q) mkdir -p $(dir $@)
+	$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
+
 #
 # Cleanup targets.  'clean' should remove all built products and force
 # a complete re-compilation, 'distclean' should remove everything 
 # that's generated leaving only files that are in source control.
 #
-.PHONY:	clean upload-jtag-px4fmu
+.PHONY:	clean
 clean:
-	@make -C $(NUTTX_SRC) -r $(MQUIET) distclean
-	@make -C $(ROMFS_SRC) -r $(MQUIET) clean
+	$(Q) $(RMDIR) $(BUILD_DIR)*.build
+	$(Q) $(REMOVE) -f $(IMAGE_DIR)*.px4
 
 .PHONY:	distclean
-distclean:
-	@rm -f $(CONFIGURED)
-	@make -C $(NUTTX_SRC) -r $(MQUIET) distclean
-	@make -C $(ROMFS_SRC) -r $(MQUIET) distclean
-
+distclean: clean
+	$(Q) $(REMOVE) -f $(ARCHIVE_DIR)*.export
+	$(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean
+
+#
+# Print some help text
+#
+.PHONY: help
+help:
+	@echo ""
+	@echo " PX4 firmware builder"
+	@echo " ===================="
+	@echo ""
+	@echo "  Available targets:"
+	@echo "  ------------------"
+	@echo ""
+	@echo "  archives"
+	@echo "    Build the NuttX RTOS archives that are used by the firmware build."
+	@echo ""
+	@echo "  all"
+	@echo "    Build all firmware configs: $(CONFIGS)"
+	@echo "    A limited set of configs can be built with CONFIGS=<list-of-configs>"
+	@echo ""
+	@for config in $(CONFIGS); do \
+		echo "  $$config"; \
+		echo "    Build just the $$config firmware configuration."; \
+		echo ""; \
+	done
+	@echo "  clean"
+	@echo "    Remove all firmware build pieces."
+	@echo ""
+	@echo "  distclean"
+	@echo "    Remove all compilation products, including NuttX RTOS archives."
+	@echo ""
+	@echo "  Common options:"
+	@echo "  ---------------"
+	@echo ""
+	@echo "  V=1"
+	@echo "    If V is set, more verbose output is printed during the build. This can"
+	@echo "    help when diagnosing issues with the build or toolchain."
+	@echo ""
diff --git a/ROMFS/.gitignore b/ROMFS/.gitignore
deleted file mode 100644
index 30d3d7fe5..000000000
--- a/ROMFS/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-/img
diff --git a/ROMFS/Makefile b/ROMFS/Makefile
deleted file mode 100644
index e77668421..000000000
--- a/ROMFS/Makefile
+++ /dev/null
@@ -1,124 +0,0 @@
-#
-# Makefile to generate a PX4FMU ROMFS image.
-#
-# In normal use, 'make install' will generate a new ROMFS header and place it
-# into the px4fmu configuration in the appropriate location.
-#
-
-#
-# Directories of interest
-#
-SRCROOT		?= $(dir $(lastword $(MAKEFILE_LIST)))
-BUILDROOT	?= $(SRCROOT)/img
-ROMFS_HEADER	?= $(SRCROOT)/../nuttx/configs/px4fmu/include/nsh_romfsimg.h
-
-#
-# List of files to install in the ROMFS, specified as <source>~<destination>
-#
-ROMFS_FSSPEC	:= $(SRCROOT)/scripts/rcS~init.d/rcS \
-		   $(SRCROOT)/scripts/rc.sensors~init.d/rc.sensors \
-		   $(SRCROOT)/scripts/rc.logging~init.d/rc.logging \
-		   $(SRCROOT)/scripts/rc.standalone~init.d/rc.standalone \
-		   $(SRCROOT)/scripts/rc.PX4IO~init.d/rc.PX4IO \
-		   $(SRCROOT)/scripts/rc.PX4IOAR~init.d/rc.PX4IOAR \
-		   $(SRCROOT)/scripts/rc.FMU_quad_x~init.d/rc.FMU_quad_x \
-		   $(SRCROOT)/scripts/rc.usb~init.d/rc.usb \
-		   $(SRCROOT)/scripts/rc.hil~init.d/rc.hil \
-		   $(SRCROOT)/mixers/FMU_pass.mix~mixers/FMU_pass.mix \
-		   $(SRCROOT)/mixers/FMU_Q.mix~mixers/FMU_Q.mix \
-		   $(SRCROOT)/mixers/FMU_X5.mix~mixers/FMU_X5.mix \
-		   $(SRCROOT)/mixers/FMU_AERT.mix~mixers/FMU_AERT.mix \
-		   $(SRCROOT)/mixers/FMU_AET.mix~mixers/FMU_AET.mix \
-		   $(SRCROOT)/mixers/FMU_RET.mix~mixers/FMU_ERT.mix \
-		   $(SRCROOT)/mixers/FMU_quad_x.mix~mixers/FMU_quad_x.mix \
-		   $(SRCROOT)/mixers/FMU_quad_+.mix~mixers/FMU_quad_+.mix \
-		   $(SRCROOT)/mixers/FMU_quad_v.mix~mixers/FMU_quad_v.mix \
-		   $(SRCROOT)/mixers/FMU_quad_w.mix~mixers/FMU_quad_w.mix \
-		   $(SRCROOT)/mixers/FMU_hex_x.mix~mixers/FMU_hex_x.mix \
-		   $(SRCROOT)/mixers/FMU_hex_+.mix~mixers/FMU_hex_+.mix \
-		   $(SRCROOT)/mixers/FMU_octo_x.mix~mixers/FMU_octo_x.mix \
-		   $(SRCROOT)/mixers/FMU_octo_+.mix~mixers/FMU_octo_+.mix \
-		   $(SRCROOT)/logging/logconv.m~logging/logconv.m
-
-# the EXTERNAL_SCRIPTS variable is used to add out of tree scripts
-# to ROMFS. 
-ROMFS_FSSPEC += $(EXTERNAL_SCRIPTS)
-
-#
-# Add the PX4IO firmware to the spec if someone has dropped it into the
-# source directory, or otherwise specified its location.
-#
-# Normally this is only something you'd do when working on PX4IO; most
-# users will upgrade with firmware off the microSD card.
-#
-PX4IO_FIRMWARE	?= $(SRCROOT)/px4io.bin
-ifneq ($(wildcard $(PX4IO_FIRMWARE)),)
-ROMFS_FSSPEC	+=  $(PX4IO_FIRMWARE)~px4io.bin
-endif
-
-################################################################################
-# No user-serviceable parts below
-################################################################################
-
-#
-# Just the source files from the ROMFS spec, so that we can fail cleanly if they don't
-# exist
-#
-ROMFS_SRCFILES	 = $(foreach spec,$(ROMFS_FSSPEC),$(firstword $(subst ~, ,$(spec))))
-
-#
-# Just the destination directories from the ROMFS spec
-#
-ROMFS_DIRS	 = $(sort $(dir $(foreach spec,$(ROMFS_FSSPEC),$(lastword $(subst ~, ,$(spec))))))
-
-
-#
-# Intermediate products
-#
-ROMFS_IMG	 = $(BUILDROOT)/romfs.img
-ROMFS_WORKDIR	 = $(BUILDROOT)/romfs
-
-#
-# Convenience target for rebuilding the ROMFS header
-#
-all:		$(ROMFS_HEADER)
-
-$(ROMFS_HEADER): $(ROMFS_IMG) $(dir $(ROMFS_HEADER))
-	@echo Generating the ROMFS header...
-	@(cd $(dir $(ROMFS_IMG)) && xxd -i $(notdir $(ROMFS_IMG))) | sed -e 's/char/const char/' > $@
-
-$(ROMFS_IMG):	$(ROMFS_WORKDIR)
-	@echo Generating the ROMFS image...
-	@genromfs -f $@ -d $(ROMFS_WORKDIR) -V "NSHInitVol"
-
-$(ROMFS_WORKDIR): $(ROMFS_SRCFILES)
-	@echo Rebuilding the ROMFS work area...
-	@rm -rf $(ROMFS_WORKDIR)
-	@mkdir -p $(ROMFS_WORKDIR)
-	@for dir in $(ROMFS_DIRS) ; do mkdir -p $(ROMFS_WORKDIR)/$$dir; done
-	@for spec in $(ROMFS_FSSPEC) ; do \
-		echo $$spec | sed -e 's%^.*~%  %' ;\
-		`echo "cp $$spec" | sed -e 's%~% $(ROMFS_WORKDIR)/%'` ;\
-	 done
-
-$(BUILDROOT):
-	@mkdir -p $(BUILDROOT)
-
-clean:
-	@rm -rf $(BUILDROOT)
-
-distclean:	clean
-	@rm -f $(PX4IO_FIRMWARE) $(ROMFS_HEADER)
-
-.PHONY:	all install clean distclean
-
-#
-# Hacks and fixups
-#
-SYSTYPE			 = $(shell uname)
-
-ifeq ($(SYSTYPE),Darwin)
-# PATH inherited by Eclipse may not include toolchain install location 
-export PATH			 := $(PATH):/usr/local/bin
-endif
-
diff --git a/ROMFS/scripts/rc.FMU_quad_x b/ROMFS/px4fmu_common/init.d/rc.FMU_quad_x
index 8787443ea..8787443ea 100644
--- a/ROMFS/scripts/rc.FMU_quad_x
+++ b/ROMFS/px4fmu_common/init.d/rc.FMU_quad_x
diff --git a/ROMFS/px4fmu_common/init.d/rc.IO_QUAD b/ROMFS/px4fmu_common/init.d/rc.IO_QUAD
new file mode 100644
index 000000000..287cb0483
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.IO_QUAD
@@ -0,0 +1,107 @@
+#!nsh
+ 
+# Disable USB and autostart
+set USB no
+set MODE quad
+ 
+#
+# Start the ORB (first app to start)
+#
+uorb start
+ 
+#
+# Load microSD params
+#
+echo "[init] loading microSD params"
+param select /fs/microsd/parameters
+if [ -f /fs/microsd/parameters ]
+then
+	param load /fs/microsd/parameters
+fi
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+#              see https://pixhawk.ethz.ch/mavlink/
+#
+param set MAV_TYPE 2
+ 
+#
+# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
+#
+if [ -f /fs/microsd/px4io.bin ]
+then
+	echo "PX4IO Firmware found. Checking Upgrade.."
+	if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
+	then
+		echo "No newer version, skipping upgrade."
+	else
+		echo "Loading /fs/microsd/px4io.bin"
+		if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
+		then
+			cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
+			echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
+		else
+			echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
+			echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
+		fi
+	fi
+fi
+ 
+#
+# Start MAVLink (depends on orb)
+#
+mavlink start -d /dev/ttyS1 -b 57600
+usleep 5000
+ 
+#
+# Start the commander (depends on orb, mavlink)
+#
+commander start
+ 
+#
+# Start PX4IO interface (depends on orb, commander)
+#
+px4io start
+ 
+#
+# Allow PX4IO to recover from midair restarts.
+# this is very unlikely, but quite safe and robust.
+px4io recovery
+ 
+#
+# Start the sensors (depends on orb, px4io)
+#
+sh /etc/init.d/rc.sensors
+ 
+#
+# Start GPS interface (depends on orb)
+#
+gps start
+ 
+#
+# Start the attitude estimator (depends on orb)
+#
+attitude_estimator_ekf start
+ 
+#
+# Load mixer and start controllers (depends on px4io)
+#
+mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
+multirotor_att_control start
+ 
+#
+# Start logging
+#
+#sdlog start -s 4
+ 
+#
+# Start system state
+#
+if blinkm start
+then
+	echo "using BlinkM for state indication"
+	blinkm systemstate
+else
+	echo "no BlinkM found, OK."
+fi
\ No newline at end of file
diff --git a/ROMFS/scripts/rc.PX4IO b/ROMFS/px4fmu_common/init.d/rc.PX4IO
index 625f23bdd..7ae4a5586 100644
--- a/ROMFS/scripts/rc.PX4IO
+++ b/ROMFS/px4fmu_common/init.d/rc.PX4IO
@@ -104,4 +104,4 @@ then
 	blinkm systemstate
 else
 	echo "no BlinkM found, OK."
-fi
\ No newline at end of file
+fi
diff --git a/ROMFS/scripts/rc.PX4IOAR b/ROMFS/px4fmu_common/init.d/rc.PX4IOAR
index 6af91992e..ab29e21c7 100644
--- a/ROMFS/scripts/rc.PX4IOAR
+++ b/ROMFS/px4fmu_common/init.d/rc.PX4IOAR
@@ -96,4 +96,4 @@ fi
 #
 echo "[init] startup done"
 
-exit
\ No newline at end of file
+exit
diff --git a/ROMFS/scripts/rc.boarddetect b/ROMFS/px4fmu_common/init.d/rc.boarddetect
index f233e51df..f233e51df 100644
--- a/ROMFS/scripts/rc.boarddetect
+++ b/ROMFS/px4fmu_common/init.d/rc.boarddetect
diff --git a/ROMFS/scripts/rc.hil b/ROMFS/px4fmu_common/init.d/rc.hil
index 980b78edd..980b78edd 100644
--- a/ROMFS/scripts/rc.hil
+++ b/ROMFS/px4fmu_common/init.d/rc.hil
diff --git a/ROMFS/scripts/rc.jig b/ROMFS/px4fmu_common/init.d/rc.jig
index e2b5d8f30..e2b5d8f30 100644
--- a/ROMFS/scripts/rc.jig
+++ b/ROMFS/px4fmu_common/init.d/rc.jig
diff --git a/ROMFS/scripts/rc.logging b/ROMFS/px4fmu_common/init.d/rc.logging
index 09c2d00d1..09c2d00d1 100644
--- a/ROMFS/scripts/rc.logging
+++ b/ROMFS/px4fmu_common/init.d/rc.logging
diff --git a/ROMFS/scripts/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 42c2f52e9..42c2f52e9 100644
--- a/ROMFS/scripts/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
diff --git a/ROMFS/scripts/rc.standalone b/ROMFS/px4fmu_common/init.d/rc.standalone
index 67e95215b..67e95215b 100644
--- a/ROMFS/scripts/rc.standalone
+++ b/ROMFS/px4fmu_common/init.d/rc.standalone
diff --git a/ROMFS/scripts/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb
index 31af3991a..31af3991a 100644
--- a/ROMFS/scripts/rc.usb
+++ b/ROMFS/px4fmu_common/init.d/rc.usb
diff --git a/ROMFS/scripts/rcS b/ROMFS/px4fmu_common/init.d/rcS
index c0a70f7dd..c0a70f7dd 100755
--- a/ROMFS/scripts/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
diff --git a/ROMFS/logging/logconv.m b/ROMFS/px4fmu_common/logging/logconv.m
index 3750ddae2..3750ddae2 100644
--- a/ROMFS/logging/logconv.m
+++ b/ROMFS/px4fmu_common/logging/logconv.m
diff --git a/ROMFS/mixers/FMU_AERT.mix b/ROMFS/px4fmu_common/mixers/FMU_AERT.mix
index 75e82bb00..75e82bb00 100644
--- a/ROMFS/mixers/FMU_AERT.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_AERT.mix
diff --git a/ROMFS/mixers/FMU_AET.mix b/ROMFS/px4fmu_common/mixers/FMU_AET.mix
index 20cb88b91..20cb88b91 100644
--- a/ROMFS/mixers/FMU_AET.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_AET.mix
diff --git a/ROMFS/mixers/FMU_Q.mix b/ROMFS/px4fmu_common/mixers/FMU_Q.mix
index ebcb66b24..ebcb66b24 100644
--- a/ROMFS/mixers/FMU_Q.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_Q.mix
diff --git a/ROMFS/mixers/FMU_RET.mix b/ROMFS/px4fmu_common/mixers/FMU_RET.mix
index 95beb8927..95beb8927 100644
--- a/ROMFS/mixers/FMU_RET.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_RET.mix
diff --git a/ROMFS/mixers/FMU_X5.mix b/ROMFS/px4fmu_common/mixers/FMU_X5.mix
index 9f81e1dc3..9f81e1dc3 100644
--- a/ROMFS/mixers/FMU_X5.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_X5.mix
diff --git a/ROMFS/px4fmu_common/mixers/FMU_delta.mix b/ROMFS/px4fmu_common/mixers/FMU_delta.mix
new file mode 100644
index 000000000..981466704
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/FMU_delta.mix
@@ -0,0 +1,50 @@
+Delta-wing mixer for PX4FMU
+===========================
+
+This file defines mixers suitable for controlling a delta wing aircraft using
+PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
+servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
+assumed to be unused.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+Elevon mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+On the assumption that the two elevon servos are physically reversed, the pitch
+input is inverted between the two servos.
+
+The scaling factor for roll inputs is adjusted to implement differential travel
+for the elevons.
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0   3000   5000      0 -10000  10000
+S: 0 1   5000   5000      0 -10000  10000
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0   5000   3000      0 -10000  10000
+S: 0 1  -5000  -5000      0 -10000  10000
+
+Output 2
+--------
+This mixer is empty.
+
+Z:
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
diff --git a/ROMFS/mixers/FMU_hex_+.mix b/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix
index b5e38ce9e..b5e38ce9e 100644
--- a/ROMFS/mixers/FMU_hex_+.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix
diff --git a/ROMFS/mixers/FMU_hex_x.mix b/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix
index 8e8d122ad..8e8d122ad 100644
--- a/ROMFS/mixers/FMU_hex_x.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix
diff --git a/ROMFS/mixers/FMU_octo_+.mix b/ROMFS/px4fmu_common/mixers/FMU_octo_+.mix
index 2cb70e814..2cb70e814 100644
--- a/ROMFS/mixers/FMU_octo_+.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_octo_+.mix
diff --git a/ROMFS/mixers/FMU_octo_x.mix b/ROMFS/px4fmu_common/mixers/FMU_octo_x.mix
index edc71f013..edc71f013 100644
--- a/ROMFS/mixers/FMU_octo_x.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_octo_x.mix
diff --git a/ROMFS/mixers/FMU_pass.mix b/ROMFS/px4fmu_common/mixers/FMU_pass.mix
index e9a81f2bb..e9a81f2bb 100644
--- a/ROMFS/mixers/FMU_pass.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_pass.mix
diff --git a/ROMFS/mixers/FMU_quad_+.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix
index dfdf1d58e..dfdf1d58e 100644
--- a/ROMFS/mixers/FMU_quad_+.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix
diff --git a/ROMFS/mixers/FMU_quad_v.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_v.mix
index 2a4a0f341..2a4a0f341 100644
--- a/ROMFS/mixers/FMU_quad_v.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_quad_v.mix
diff --git a/ROMFS/mixers/FMU_quad_w.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_w.mix
index 81b4af30b..81b4af30b 100644
--- a/ROMFS/mixers/FMU_quad_w.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_quad_w.mix
diff --git a/ROMFS/mixers/FMU_quad_x.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_x.mix
index 12a3bee20..12a3bee20 100644
--- a/ROMFS/mixers/FMU_quad_x.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_quad_x.mix
diff --git a/ROMFS/mixers/README b/ROMFS/px4fmu_common/mixers/README
index 6649c53c2..6649c53c2 100644
--- a/ROMFS/mixers/README
+++ b/ROMFS/px4fmu_common/mixers/README
diff --git a/Tools/px_uploader.py b/Tools/px_uploader.py
index cce388d71..d2ebf1698 100755
--- a/Tools/px_uploader.py
+++ b/Tools/px_uploader.py
@@ -41,20 +41,19 @@
 # The uploader uses the following fields from the firmware file:
 #
 # image
-#	The firmware that will be uploaded.
+#       The firmware that will be uploaded.
 # image_size
-#	The size of the firmware in bytes.
+#       The size of the firmware in bytes.
 # board_id
-#	The board for which the firmware is intended.
+#       The board for which the firmware is intended.
 # board_revision
-#	Currently only used for informational purposes.
+#       Currently only used for informational purposes.
 #
 
 import sys
 import argparse
 import binascii
 import serial
-import os
 import struct
 import json
 import zlib
@@ -64,292 +63,294 @@ import array
 
 from sys import platform as _platform
 
+
 class firmware(object):
-	'''Loads a firmware file'''
-
-	desc = {}
-	image = bytes()
-	crctab = array.array('I', [
-		0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
-		0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
-		0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
-		0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
-		0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
-		0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
-		0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
-		0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
-		0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
-		0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
-		0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
-		0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
-		0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
-		0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
-		0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
-		0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
-		0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
-		0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
-		0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
-		0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
-		0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
-		0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
-		0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
-		0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
-		0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
-		0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
-		0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
-		0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
-		0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
-		0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
-		0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
-		0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d ])
-	crcpad = bytearray('\xff\xff\xff\xff')
-
-	def __init__(self, path):
-
-		# read the file
-		f = open(path, "r")
-		self.desc = json.load(f)
-		f.close()
-
-		self.image = bytearray(zlib.decompress(base64.b64decode(self.desc['image'])))
-
-		# pad image to 4-byte length
-		while ((len(self.image) % 4) != 0):
-			self.image.append('\xff')
-
-	def property(self, propname):
-		return self.desc[propname]
-
-	def __crc32(self, bytes, state):
-		for byte in bytes:
-			index = (state ^ byte) & 0xff
-			state = self.crctab[index] ^ (state >> 8)
-		return state
-
-	def crc(self, padlen):
-		state = self.__crc32(self.image, int(0))
-		for i in range(len(self.image), (padlen - 1), 4):
-			state = self.__crc32(self.crcpad, state)
-		return state
+        '''Loads a firmware file'''
+
+        desc = {}
+        image = bytes()
+        crctab = array.array('I', [
+            0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
+            0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
+            0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
+            0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
+            0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
+            0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
+            0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
+            0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
+            0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
+            0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
+            0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
+            0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
+            0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
+            0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
+            0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
+            0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
+            0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
+            0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
+            0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
+            0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
+            0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
+            0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
+            0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
+            0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
+            0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
+            0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
+            0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
+            0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
+            0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
+            0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
+            0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
+            0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d])
+        crcpad = bytearray('\xff\xff\xff\xff')
+
+        def __init__(self, path):
+
+                # read the file
+                f = open(path, "r")
+                self.desc = json.load(f)
+                f.close()
+
+                self.image = bytearray(zlib.decompress(base64.b64decode(self.desc['image'])))
+
+                # pad image to 4-byte length
+                while ((len(self.image) % 4) != 0):
+                        self.image.append('\xff')
+
+        def property(self, propname):
+                return self.desc[propname]
+
+        def __crc32(self, bytes, state):
+                for byte in bytes:
+                        index = (state ^ byte) & 0xff
+                        state = self.crctab[index] ^ (state >> 8)
+                return state
+
+        def crc(self, padlen):
+                state = self.__crc32(self.image, int(0))
+                for i in range(len(self.image), (padlen - 1), 4):
+                        state = self.__crc32(self.crcpad, state)
+                return state
+
 
 class uploader(object):
-	'''Uploads a firmware file to the PX FMU bootloader'''
-
-	# protocol bytes
-	INSYNC		= chr(0x12)
-	EOC		= chr(0x20)
-
-	# reply bytes
-	OK		= chr(0x10)
-	FAILED		= chr(0x11)
-	INVALID		= chr(0x13)	# rev3+
-
-	# command bytes
-	NOP		= chr(0x00)	# guaranteed to be discarded by the bootloader
-	GET_SYNC	= chr(0x21)
-	GET_DEVICE	= chr(0x22)
-	CHIP_ERASE	= chr(0x23)
-	CHIP_VERIFY	= chr(0x24)	# rev2 only
-	PROG_MULTI	= chr(0x27)
-	READ_MULTI	= chr(0x28)	# rev2 only
-	GET_CRC		= chr(0x29)	# rev3+
-	REBOOT		= chr(0x30)
-	
-	INFO_BL_REV	= chr(1)	# bootloader protocol revision
-	BL_REV_MIN	= 2		# minimum supported bootloader protocol 
-	BL_REV_MAX	= 3		# maximum supported bootloader protocol 
-	INFO_BOARD_ID	= chr(2)	# board type
-	INFO_BOARD_REV	= chr(3)	# board revision
-	INFO_FLASH_SIZE	= chr(4)	# max firmware size in bytes
-
-	PROG_MULTI_MAX	= 60		# protocol max is 255, must be multiple of 4
-	READ_MULTI_MAX	= 60		# protocol max is 255, something overflows with >= 64
-
-	def __init__(self, portname, baudrate):
-		# open the port, keep the default timeout short so we can poll quickly
-		self.port = serial.Serial(portname, baudrate, timeout=0.25)
-
-	def close(self):
-		if self.port is not None:
-			self.port.close()
-
-	def __send(self, c):
-#		print("send " + binascii.hexlify(c))
-		self.port.write(str(c))
-
-	def __recv(self, count = 1):
-		c = self.port.read(count)
-		if len(c) < 1:
-			raise RuntimeError("timeout waiting for data")
-#		print("recv " + binascii.hexlify(c))
-		return c
-
-	def __recv_int(self):
-		raw = self.__recv(4)
-		val = struct.unpack("<I", raw)
-		return val[0]
-
-	def __getSync(self):
-		self.port.flush()
-		c = self.__recv()
-		if c is not self.INSYNC:
-			raise RuntimeError("unexpected 0x%x instead of INSYNC" % ord(c))
-		c = self.__recv()
-		if c == self.INVALID:
-			raise RuntimeError("bootloader reports INVALID OPERATION")
-		if c == self.FAILED:
-			raise RuntimeError("bootloader reports OPERATION FAILED")
-		if c != self.OK:
-			raise RuntimeError("unexpected response 0x%x instead of OK" % ord(c))
-
-	# attempt to get back into sync with the bootloader
-	def __sync(self):
-		# send a stream of ignored bytes longer than the longest possible conversation
-		# that we might still have in progress
-#		self.__send(uploader.NOP * (uploader.PROG_MULTI_MAX + 2))
-		self.port.flushInput()
-		self.__send(uploader.GET_SYNC 
-				+ uploader.EOC)
-		self.__getSync()
-		
-#	def __trySync(self):
-#		c = self.__recv()
-#		if (c != self.INSYNC):
-#			#print("unexpected 0x%x instead of INSYNC" % ord(c))
-#			return False;
-#		c = self.__recv()
-#		if (c != self.OK):
-#			#print("unexpected 0x%x instead of OK" % ord(c))
-#			return False
-#		return True
-
-	# send the GET_DEVICE command and wait for an info parameter
-	def __getInfo(self, param):
-		self.__send(uploader.GET_DEVICE + param + uploader.EOC)
-		value = self.__recv_int()
-		self.__getSync()
-		return value
-
-	# send the CHIP_ERASE command and wait for the bootloader to become ready
-	def __erase(self):
-		self.__send(uploader.CHIP_ERASE 
-				+ uploader.EOC)
-		# erase is very slow, give it 10s
-		deadline = time.time() + 10
-		while time.time() < deadline:
-			try:
-				self.__getSync()
-				return
-			except RuntimeError as ex:
-				# we timed out, that's OK
-				continue
-
-		raise RuntimeError("timed out waiting for erase")
-
-	# send a PROG_MULTI command to write a collection of bytes
-	def __program_multi(self, data):
-		self.__send(uploader.PROG_MULTI
-				+ chr(len(data)))
-		self.__send(data)
-		self.__send(uploader.EOC)
-		self.__getSync()
-		
-	# verify multiple bytes in flash
-	def __verify_multi(self, data):
-		self.__send(uploader.READ_MULTI
-				+ chr(len(data))
-				+ uploader.EOC)
-		self.port.flush()
-		programmed = self.__recv(len(data))
-		if programmed != data:
-			print(("got    " + binascii.hexlify(programmed)))
-			print(("expect " + binascii.hexlify(data)))
-			return False
-		self.__getSync()
-		return True
-		
-	# send the reboot command
-	def __reboot(self):
-		self.__send(uploader.REBOOT
-				+ uploader.EOC)
-		self.port.flush()
-
-		# v3+ can report failure if the first word flash fails
-		if self.bl_rev >= 3:
-			self.__getSync()
-
-	# split a sequence into a list of size-constrained pieces
-	def __split_len(self, seq, length):
-    		return [seq[i:i+length] for i in range(0, len(seq), length)]
-
-	# upload code
-	def __program(self, fw):
-		code = fw.image
-		groups = self.__split_len(code, uploader.PROG_MULTI_MAX)
-		for bytes in groups:
-			self.__program_multi(bytes)
-
-	# verify code
-	def __verify_v2(self, fw):
-		self.__send(uploader.CHIP_VERIFY
-				+ uploader.EOC)
-		self.__getSync()
-		code = fw.image
-		groups = self.__split_len(code, uploader.READ_MULTI_MAX)
-		for bytes in groups:
-			if (not self.__verify_multi(bytes)):
-				raise RuntimeError("Verification failed")
-
-	def __verify_v3(self, fw):
-		expect_crc = fw.crc(self.fw_maxsize)
-		self.__send(uploader.GET_CRC
-				+ uploader.EOC)
-		report_crc = self.__recv_int()
-		self.__getSync()
-		if report_crc != expect_crc:
-			print(("Expected 0x%x" % expect_crc))
-			print(("Got      0x%x" % report_crc))
-			raise RuntimeError("Program CRC failed")
-
-	# get basic data about the board
-	def identify(self):
-		# make sure we are in sync before starting
-		self.__sync()
-
-		# get the bootloader protocol ID first
-		self.bl_rev = self.__getInfo(uploader.INFO_BL_REV)
-		if (self.bl_rev < uploader.BL_REV_MIN) or (self.bl_rev > uploader.BL_REV_MAX):
-			print(("Unsupported bootloader protocol %d" % uploader.INFO_BL_REV))
-			raise RuntimeError("Bootloader protocol mismatch")
-
-		self.board_type = self.__getInfo(uploader.INFO_BOARD_ID)
-		self.board_rev = self.__getInfo(uploader.INFO_BOARD_REV)
-		self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE)
-
-	# upload the firmware
-	def upload(self, fw):
-		# Make sure we are doing the right thing
-		if self.board_type != fw.property('board_id'):
-			raise RuntimeError("Firmware not suitable for this board (run 'make configure_px4fmu && make clean' or 'make configure_px4io && make clean' to reconfigure).")
-		if self.fw_maxsize < fw.property('image_size'):
-			raise RuntimeError("Firmware image is too large for this board")
-
-		print("erase...")
-		self.__erase()
-
-		print("program...")
-		self.__program(fw)
-
-		print("verify...")
-		if self.bl_rev == 2:
-			self.__verify_v2(fw)
-		else:
-			self.__verify_v3(fw)
-
-		print("done, rebooting.")
-		self.__reboot()
-		self.port.close()
-	
+        '''Uploads a firmware file to the PX FMU bootloader'''
+
+        # protocol bytes
+        INSYNC          = chr(0x12)
+        EOC             = chr(0x20)
+
+        # reply bytes
+        OK              = chr(0x10)
+        FAILED          = chr(0x11)
+        INVALID         = chr(0x13)     # rev3+
+
+        # command bytes
+        NOP             = chr(0x00)     # guaranteed to be discarded by the bootloader
+        GET_SYNC        = chr(0x21)
+        GET_DEVICE      = chr(0x22)
+        CHIP_ERASE      = chr(0x23)
+        CHIP_VERIFY     = chr(0x24)     # rev2 only
+        PROG_MULTI      = chr(0x27)
+        READ_MULTI      = chr(0x28)     # rev2 only
+        GET_CRC         = chr(0x29)     # rev3+
+        REBOOT          = chr(0x30)
+        
+        INFO_BL_REV     = chr(1)        # bootloader protocol revision
+        BL_REV_MIN      = 2             # minimum supported bootloader protocol 
+        BL_REV_MAX      = 3             # maximum supported bootloader protocol 
+        INFO_BOARD_ID   = chr(2)        # board type
+        INFO_BOARD_REV  = chr(3)        # board revision
+        INFO_FLASH_SIZE = chr(4)        # max firmware size in bytes
+
+        PROG_MULTI_MAX  = 60            # protocol max is 255, must be multiple of 4
+        READ_MULTI_MAX  = 60            # protocol max is 255, something overflows with >= 64
+
+        def __init__(self, portname, baudrate):
+                # open the port, keep the default timeout short so we can poll quickly
+                self.port = serial.Serial(portname, baudrate, timeout=0.5)
+
+        def close(self):
+                if self.port is not None:
+                        self.port.close()
+
+        def __send(self, c):
+#               print("send " + binascii.hexlify(c))
+                self.port.write(str(c))
+
+        def __recv(self, count=1):
+                c = self.port.read(count)
+                if len(c) < 1:
+                        raise RuntimeError("timeout waiting for data")
+#               print("recv " + binascii.hexlify(c))
+                return c
+
+        def __recv_int(self):
+                raw = self.__recv(4)
+                val = struct.unpack("<I", raw)
+                return val[0]
+
+        def __getSync(self):
+                self.port.flush()
+                c = self.__recv()
+                if c is not self.INSYNC:
+                        raise RuntimeError("unexpected 0x%x instead of INSYNC" % ord(c))
+                c = self.__recv()
+                if c == self.INVALID:
+                        raise RuntimeError("bootloader reports INVALID OPERATION")
+                if c == self.FAILED:
+                        raise RuntimeError("bootloader reports OPERATION FAILED")
+                if c != self.OK:
+                        raise RuntimeError("unexpected response 0x%x instead of OK" % ord(c))
+
+        # attempt to get back into sync with the bootloader
+        def __sync(self):
+                # send a stream of ignored bytes longer than the longest possible conversation
+                # that we might still have in progress
+#               self.__send(uploader.NOP * (uploader.PROG_MULTI_MAX + 2))
+                self.port.flushInput()
+                self.__send(uploader.GET_SYNC
+                            + uploader.EOC)
+                self.__getSync()
+
+#       def __trySync(self):
+#               c = self.__recv()
+#               if (c != self.INSYNC):
+#                       #print("unexpected 0x%x instead of INSYNC" % ord(c))
+#                       return False;
+#               c = self.__recv()
+#               if (c != self.OK):
+#                       #print("unexpected 0x%x instead of OK" % ord(c))
+#                       return False
+#               return True
+
+        # send the GET_DEVICE command and wait for an info parameter
+        def __getInfo(self, param):
+                self.__send(uploader.GET_DEVICE + param + uploader.EOC)
+                value = self.__recv_int()
+                self.__getSync()
+                return value
+
+        # send the CHIP_ERASE command and wait for the bootloader to become ready
+        def __erase(self):
+                self.__send(uploader.CHIP_ERASE
+                            + uploader.EOC)
+                # erase is very slow, give it 20s
+                deadline = time.time() + 20
+                while time.time() < deadline:
+                        try:
+                                self.__getSync()
+                                return
+                        except RuntimeError:
+                                # we timed out, that's OK
+                                continue
+
+                raise RuntimeError("timed out waiting for erase")
+
+        # send a PROG_MULTI command to write a collection of bytes
+        def __program_multi(self, data):
+                self.__send(uploader.PROG_MULTI
+                            + chr(len(data)))
+                self.__send(data)
+                self.__send(uploader.EOC)
+                self.__getSync()
+
+        # verify multiple bytes in flash
+        def __verify_multi(self, data):
+                self.__send(uploader.READ_MULTI
+                            + chr(len(data))
+                            + uploader.EOC)
+                self.port.flush()
+                programmed = self.__recv(len(data))
+                if programmed != data:
+                        print("got    " + binascii.hexlify(programmed))
+                        print("expect " + binascii.hexlify(data))
+                        return False
+                self.__getSync()
+                return True
+
+        # send the reboot command
+        def __reboot(self):
+                self.__send(uploader.REBOOT
+                            + uploader.EOC)
+                self.port.flush()
+
+                # v3+ can report failure if the first word flash fails
+                if self.bl_rev >= 3:
+                        self.__getSync()
+
+        # split a sequence into a list of size-constrained pieces
+        def __split_len(self, seq, length):
+                return [seq[i:i+length] for i in range(0, len(seq), length)]
+
+        # upload code
+        def __program(self, fw):
+                code = fw.image
+                groups = self.__split_len(code, uploader.PROG_MULTI_MAX)
+                for bytes in groups:
+                        self.__program_multi(bytes)
+
+        # verify code
+        def __verify_v2(self, fw):
+                self.__send(uploader.CHIP_VERIFY
+                            + uploader.EOC)
+                self.__getSync()
+                code = fw.image
+                groups = self.__split_len(code, uploader.READ_MULTI_MAX)
+                for bytes in groups:
+                        if (not self.__verify_multi(bytes)):
+                                raise RuntimeError("Verification failed")
+
+        def __verify_v3(self, fw):
+                expect_crc = fw.crc(self.fw_maxsize)
+                self.__send(uploader.GET_CRC
+                            + uploader.EOC)
+                report_crc = self.__recv_int()
+                self.__getSync()
+                if report_crc != expect_crc:
+                        print("Expected 0x%x" % expect_crc)
+                        print("Got      0x%x" % report_crc)
+                        raise RuntimeError("Program CRC failed")
+
+        # get basic data about the board
+        def identify(self):
+                # make sure we are in sync before starting
+                self.__sync()
+
+                # get the bootloader protocol ID first
+                self.bl_rev = self.__getInfo(uploader.INFO_BL_REV)
+                if (self.bl_rev < uploader.BL_REV_MIN) or (self.bl_rev > uploader.BL_REV_MAX):
+                        print("Unsupported bootloader protocol %d" % uploader.INFO_BL_REV)
+                        raise RuntimeError("Bootloader protocol mismatch")
+
+                self.board_type = self.__getInfo(uploader.INFO_BOARD_ID)
+                self.board_rev = self.__getInfo(uploader.INFO_BOARD_REV)
+                self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE)
+
+        # upload the firmware
+        def upload(self, fw):
+                # Make sure we are doing the right thing
+                if self.board_type != fw.property('board_id'):
+                        raise RuntimeError("Firmware not suitable for this board")
+                if self.fw_maxsize < fw.property('image_size'):
+                        raise RuntimeError("Firmware image is too large for this board")
+
+                print("erase...")
+                self.__erase()
+
+                print("program...")
+                self.__program(fw)
+
+                print("verify...")
+                if self.bl_rev == 2:
+                        self.__verify_v2(fw)
+                else:
+                        self.__verify_v3(fw)
+
+                print("done, rebooting.")
+                self.__reboot()
+                self.port.close()
+
 
 # Parse commandline arguments
 parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.")
@@ -360,57 +361,57 @@ args = parser.parse_args()
 
 # Load the firmware file
 fw = firmware(args.firmware)
-print(("Loaded firmware for %x,%x, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision'))))
+print("Loaded firmware for %x,%x, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision')))
 
 # Spin waiting for a device to show up
 while True:
-	for port in args.port.split(","):
-
-		#print("Trying %s" % port)
-
-		# create an uploader attached to the port
-		try:
-			if "linux" in _platform:
-			# Linux, don't open Mac OS and Win ports
-				if not "COM" in port and not "tty.usb" in port:
-					up = uploader(port, args.baud)
-			elif "darwin" in _platform:
-				# OS X, don't open Windows and Linux ports
-				if not "COM" in port and not "ACM" in port:
-					up = uploader(port, args.baud)
-			elif "win" in _platform:
-				# Windows, don't open POSIX ports
-				if not "/" in port:
-					up = uploader(port, args.baud)
-		except:
-			# open failed, rate-limit our attempts
-			time.sleep(0.05)
-
-			# and loop to the next port
-			continue
-
-		# port is open, try talking to it
-		try:
-			# identify the bootloader
-			up.identify()
-			print(("Found board %x,%x bootloader rev %x on %s" % (up.board_type, up.board_rev, up.bl_rev, port)))
-
-		except:
-			# most probably a timeout talking to the port, no bootloader
-			continue
-
-		try:
-			# ok, we have a bootloader, try flashing it
-			up.upload(fw)
-
-		except RuntimeError as ex:
-
-			# print the error
-			print(("ERROR: %s" % ex.args))
-
-		finally:
-			# always close the port
-			up.close()
-
-		# we could loop here if we wanted to wait for more boards...
-		sys.exit(0)
+        for port in args.port.split(","):
+
+                #print("Trying %s" % port)
+
+                # create an uploader attached to the port
+                try:
+                        if "linux" in _platform:
+                        # Linux, don't open Mac OS and Win ports
+                                if not "COM" in port and not "tty.usb" in port:
+                                        up = uploader(port, args.baud)
+                        elif "darwin" in _platform:
+                                # OS X, don't open Windows and Linux ports
+                                if not "COM" in port and not "ACM" in port:
+                                        up = uploader(port, args.baud)
+                        elif "win" in _platform:
+                                # Windows, don't open POSIX ports
+                                if not "/" in port:
+                                        up = uploader(port, args.baud)
+                except:
+                        # open failed, rate-limit our attempts
+                        time.sleep(0.05)
+
+                        # and loop to the next port
+                        continue
+
+                # port is open, try talking to it
+                try:
+                        # identify the bootloader
+                        up.identify()
+                        print("Found board %x,%x bootloader rev %x on %s" % (up.board_type, up.board_rev, up.bl_rev, port))
+
+                except:
+                        # most probably a timeout talking to the port, no bootloader
+                        continue
+
+                try:
+                        # ok, we have a bootloader, try flashing it
+                        up.upload(fw)
+
+                except RuntimeError as ex:
+
+                        # print the error
+                        print("ERROR: %s" % ex.args)
+
+                finally:
+                        # always close the port
+                        up.close()
+
+                # we could loop here if we wanted to wait for more boards...
+                sys.exit(0)
diff --git a/apps/drivers/boards/px4fmu/Makefile b/apps/drivers/boards/px4fmu/Makefile
deleted file mode 100644
index 6b183d8d2..000000000
--- a/apps/drivers/boards/px4fmu/Makefile
+++ /dev/null
@@ -1,41 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-
-#
-# Board-specific startup code for the PX4FMU
-#
-
-INCLUDES	 = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
-LIBNAME		 = brd_px4fmu
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/drivers/l3gd20/Makefile b/apps/drivers/l3gd20/Makefile
deleted file mode 100644
index 98e2d57c5..000000000
--- a/apps/drivers/l3gd20/Makefile
+++ /dev/null
@@ -1,42 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-
-#
-# Makefile to build the L3GD20 driver.
-#
-
-APPNAME		 = l3gd20
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/drivers/mpu6000/Makefile b/apps/drivers/mpu6000/Makefile
deleted file mode 100644
index 32df1bdae..000000000
--- a/apps/drivers/mpu6000/Makefile
+++ /dev/null
@@ -1,42 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-
-#
-# Makefile to build the BMA180 driver.
-#
-
-APPNAME		 = mpu6000
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 4096
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/drivers/stm32/adc/Makefile b/apps/drivers/stm32/adc/Makefile
deleted file mode 100644
index 443bc0623..000000000
--- a/apps/drivers/stm32/adc/Makefile
+++ /dev/null
@@ -1,43 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-
-#
-# STM32 ADC driver
-#
-
-APPNAME		 = adc
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-INCLUDES	 = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/drivers/stm32/tone_alarm/Makefile b/apps/drivers/stm32/tone_alarm/Makefile
deleted file mode 100644
index d2ddf9534..000000000
--- a/apps/drivers/stm32/tone_alarm/Makefile
+++ /dev/null
@@ -1,43 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-
-#
-# Tone alarm driver
-#
-
-APPNAME		 = tone_alarm
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-INCLUDES	 = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/examples/Makefile b/apps/examples/Makefile
index 201be955b..6b614b1aa 100644
--- a/apps/examples/Makefile
+++ b/apps/examples/Makefile
@@ -38,7 +38,6 @@
 # Sub-directories
 
 SUBDIRS  = adc can cdcacm nsh
-SUBDIRS += math_demo control_demo kalman_demo px4_deamon_app 
 
 #SUBDIRS  = adc buttons can cdcacm composite cxxtest dhcpd discover elf ftpc
 #SUBDIRS += ftpd hello helloxx hidkbd igmp json keypadtest lcdrw mm modbus mount
diff --git a/apps/examples/control_demo/Makefile b/apps/examples/control_demo/Makefile
deleted file mode 100644
index 6e40e645f..000000000
--- a/apps/examples/control_demo/Makefile
+++ /dev/null
@@ -1,42 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-
-#
-# Basic example application
-#
-
-APPNAME		 = control_demo
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/examples/kalman_demo/Makefile b/apps/examples/kalman_demo/Makefile
deleted file mode 100644
index 99c34d934..000000000
--- a/apps/examples/kalman_demo/Makefile
+++ /dev/null
@@ -1,42 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-
-#
-# Basic example application
-#
-
-APPNAME		 = kalman_demo
-PRIORITY	 = SCHED_PRIORITY_MAX - 30
-STACKSIZE	 = 2048
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/examples/nsh/Makefile b/apps/examples/nsh/Makefile
index c7d212fc2..ad687958f 100644
--- a/apps/examples/nsh/Makefile
+++ b/apps/examples/nsh/Makefile
@@ -64,6 +64,8 @@ ROOTDEPPATH	= --dep-path .
 
 VPATH		= 
 
+MAXOPTIMIZATION = -Os
+
 all: .built
 .PHONY: clean depend distclean
 
diff --git a/apps/examples/px4_deamon_app/Makefile b/apps/examples/px4_deamon_app/Makefile
deleted file mode 100644
index e4c169872..000000000
--- a/apps/examples/px4_deamon_app/Makefile
+++ /dev/null
@@ -1,42 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-
-#
-# Basic example application
-#
-
-APPNAME		 = px4_deamon_app
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/examples/px4_mavlink_debug/Makefile b/apps/examples/px4_mavlink_debug/Makefile
deleted file mode 100644
index f59aef16f..000000000
--- a/apps/examples/px4_mavlink_debug/Makefile
+++ /dev/null
@@ -1,42 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-
-#
-# Basic example application
-#
-
-APPNAME		 = px4_mavlink_debug
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/examples/px4_simple_app/Makefile b/apps/examples/px4_simple_app/Makefile
deleted file mode 100644
index 102f51fd4..000000000
--- a/apps/examples/px4_simple_app/Makefile
+++ /dev/null
@@ -1,42 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-
-#
-# Basic example application
-#
-
-APPNAME		 = px4_simple_app
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/fixedwing_att_control/Makefile b/apps/fixedwing_att_control/Makefile
deleted file mode 100644
index 01465fa9e..000000000
--- a/apps/fixedwing_att_control/Makefile
+++ /dev/null
@@ -1,45 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-
-#
-# Fixedwing Control application
-#
-
-APPNAME		 = fixedwing_att_control
-PRIORITY	 = SCHED_PRIORITY_MAX - 30
-STACKSIZE	 = 2048
-
-INCLUDES	= $(TOPDIR)/../mavlink/include/mavlink
-
-include $(APPDIR)/mk/app.mk
-
diff --git a/apps/fixedwing_pos_control/Makefile b/apps/fixedwing_pos_control/Makefile
deleted file mode 100644
index bce391f49..000000000
--- a/apps/fixedwing_pos_control/Makefile
+++ /dev/null
@@ -1,45 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-
-#
-# Fixedwing Control application
-#
-
-APPNAME		 = fixedwing_pos_control
-PRIORITY	 = SCHED_PRIORITY_MAX - 30
-STACKSIZE	 = 2048
-
-INCLUDES	= $(TOPDIR)/../mavlink/include/mavlink
-
-include $(APPDIR)/mk/app.mk
-
diff --git a/apps/hott_telemetry/Makefile b/apps/hott_telemetry/Makefile
deleted file mode 100644
index 8d5faa3b7..000000000
--- a/apps/hott_telemetry/Makefile
+++ /dev/null
@@ -1,45 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-
-#
-# Graupner HoTT Telemetry application.
-#
-
-# The following line is required for accessing UARTs directly.
-INCLUDES	 = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
-
-APPNAME		 = hott_telemetry
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/mavlink/.context b/apps/mavlink/.context
deleted file mode 100644
index e69de29bb..000000000
--- a/apps/mavlink/.context
+++ /dev/null
diff --git a/apps/mavlink_onboard/Makefile b/apps/mavlink_onboard/Makefile
deleted file mode 100644
index 8b1cb9b2c..000000000
--- a/apps/mavlink_onboard/Makefile
+++ /dev/null
@@ -1,44 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-
-#
-# Mavlink Application
-#
-
-APPNAME		 = mavlink_onboard
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-INCLUDES	 = $(TOPDIR)/../mavlink/include/mavlink
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/mk/app.mk b/apps/mk/app.mk
deleted file mode 100644
index fa4a12cab..000000000
--- a/apps/mk/app.mk
+++ /dev/null
@@ -1,237 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-
-#
-# Common Makefile for nsh command modules and utility libraries; should be 
-# included by the module-specific Makefile.
-#
-# To build an app that appears as an nsh external command, the caller 
-# must define:
-#
-# APPNAME	- the name of the application, defaults to the name
-#		  of the parent directory.
-#
-# If APPNAME is not defined, a utility library is built instead. The library
-# name is normally automatically determined, but it can be overridden by
-# setting:
-#
-# LIBNAME	- the name of the library, defaults to the name of the
-#		  directory
-#
-# The calling makefile may also set:
-#
-# ASRCS		- list of assembly source files, defaults to all .S 
-#		  files in the directory
-#
-# CSRCS		- list of C source files, defaults to all .c files
-#		  in the directory
-#
-# CXXSRCS	- list of C++ source files, defaults to all .cpp
-#		  files in the directory
-#
-# INCLUDES	- list of directories to be added to the include
-#		  search path
-#
-# PRIORITY	- thread priority for the command (defaults to 
-#		  SCHED_PRIORITY_DEFAULT)
-#
-# STACKSIZE	- stack size for the command (defaults to 
-#		  CONFIG_PTHREAD_STACK_DEFAULT)
-#
-# Symbols in the module are private to the module unless deliberately exported
-# using the __EXPORT tag, or DEFAULT_VISIBILITY is set
-#
-
-############################################################################
-# No user-serviceable parts below
-############################################################################
-
-
-############################################################################
-# Work out who included us so we can report decent errors
-#
-THIS_MAKEFILE	:= $(lastword $(MAKEFILE_LIST))
-ifeq ($(APP_MAKEFILE),)
-APP_MAKEFILE	:= $(lastword $(filter-out $(THIS_MAKEFILE),$(MAKEFILE_LIST)))
-endif
-
-############################################################################
-# Get configuration
-#
--include $(TOPDIR)/.config
--include $(TOPDIR)/Make.defs
-include $(APPDIR)/Make.defs
-
-############################################################################
-# Sanity-check the information we've been given and set any defaults
-#
-SRCDIR		?= $(dir $(APP_MAKEFILE))
-PRIORITY	?= SCHED_PRIORITY_DEFAULT
-STACKSIZE	?= CONFIG_PTHREAD_STACK_DEFAULT
-
-INCLUDES	+= $(APPDIR)
-
-ASRCS		?= $(wildcard $(SRCDIR)/*.S)
-CSRCS		?= $(wildcard $(SRCDIR)/*.c)
-CHDRS		?= $(wildcard $(SRCDIR)/*.h)
-CXXSRCS		?= $(wildcard $(SRCDIR)/*.cpp)
-CXXHDRS		?= $(wildcard $(SRCDIR)/*.hpp)
-
-# if APPNAME is not set, this is a library
-ifeq ($(APPNAME),)
-LIBNAME		?= $(lastword $(subst /, ,$(realpath $(SRCDIR))))
-endif
-
-# there has to be a source file
-ifeq ($(ASRCS)$(CSRCS)$(CXXSRCS),)
-$(error $(realpath $(APP_MAKEFILE)): at least one of ASRCS, CSRCS or CXXSRCS must be set)
-endif
-
-# check that C++ is configured if we have C++ source files and we are building
-ifneq ($(CXXSRCS),)
-ifneq ($(CONFIG_HAVE_CXX),y)
-ifeq ($(MAKECMDGOALS),build)
-$(error $(realpath $(APP_MAKEFILE)): cannot set CXXSRCS if CONFIG_HAVE_CXX not set in configuration)
-endif
-endif
-endif
-
-############################################################################
-# Adjust compilation flags to implement EXPORT
-#
-
-ifeq ($(DEFAULT_VISIBILITY),)
-DEFAULT_VISIBILITY = hidden
-else
-DEFAULT_VISIBILITY = default
-endif
-
-CFLAGS		+= -fvisibility=$(DEFAULT_VISIBILITY) -include $(APPDIR)/systemlib/visibility.h
-CXXFLAGS	+= -fvisibility=$(DEFAULT_VISIBILITY) -include $(APPDIR)/systemlib/visibility.h
-
-############################################################################
-# Add extra include directories
-#
-CFLAGS		+= $(addprefix -I,$(INCLUDES))
-CXXFLAGS	+= $(addprefix -I,$(INCLUDES))
-
-############################################################################
-# Things we are going to build
-#
-
-SRCS		 = $(ASRCS) $(CSRCS) $(CXXSRCS)
-AOBJS		 = $(patsubst %.S,%.o,$(ASRCS))
-COBJS		 = $(patsubst %.c,%.o,$(CSRCS))
-CXXOBJS		 = $(patsubst %.cpp,%.o,$(CXXSRCS))
-OBJS		 = $(AOBJS) $(COBJS) $(CXXOBJS)
-
-# Automatic depdendency generation
-DEPS		 = $(OBJS:$(OBJEXT)=.d)
-CFLAGS		+= -MD
-CXXFLAGS	+= -MD
-
-# The prelinked object that we are ultimately going to build
-ifneq ($(APPNAME),)
-PRELINKOBJ	 = $(APPNAME).pre.o
-else
-PRELINKOBJ	 = $(LIBNAME).pre.o
-endif
-
-# The archive the prelinked object will be linked into
-# XXX does WINTOOL ever get set?
-ifeq ($(WINTOOL),y)
-  INCDIROPT	= -w
-  BIN		 = "$(shell cygpath -w  $(APPDIR)/libapps$(LIBEXT))"
-else
-  BIN		 = "$(APPDIR)/libapps$(LIBEXT)"
-endif
-
-############################################################################
-# Rules for building things
-#
-
-all:		.built
-.PHONY:		clean depend distclean
-
-#
-# Top-level build; add prelinked object to the apps archive
-#
-.built:		$(PRELINKOBJ)
-	@$(call ARCHIVE, $(BIN), $(PRELINKOBJ))
-	@touch $@
-
-#
-# Source dependencies
-#
-depend:
-	@exit 0
-
-ifneq ($(APPNAME),)
-#
-# App registration
-#
-context:	.context
-.context:	$(MAKEFILE_LIST)
-	$(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main)
-	@touch $@
-else
-context:
-	@exit 0
-endif
-
-#
-# Object files
-#
-$(PRELINKOBJ):	$(OBJS)
-	$(call PRELINK, $@, $(OBJS))
-
-$(AOBJS): %.o : %.S $(MAKEFILE_LIST)
-	$(call ASSEMBLE, $<, $@)
-
-$(COBJS): %.o : %.c $(MAKEFILE_LIST)
-	$(call COMPILE, $<, $@)
-
-$(CXXOBJS): %.o : %.cpp $(MAKEFILE_LIST)
-	$(call COMPILEXX, $<, $@)
-
-#
-# Tidying up
-#
-clean:
-	@rm -f $(OBJS) $(DEPS) $(PRELINKOBJ) .built
-	$(call CLEAN)
-
-distclean:	clean
-	@rm -f Make.dep .depend
-
--include $(DEPS)
diff --git a/apps/multirotor_pos_control/Makefile b/apps/multirotor_pos_control/Makefile
deleted file mode 100644
index c88c85435..000000000
--- a/apps/multirotor_pos_control/Makefile
+++ /dev/null
@@ -1,42 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-
-#
-# Makefile to build multirotor position control
-#
-
-APPNAME		 = multirotor_pos_control
-PRIORITY	 = SCHED_PRIORITY_MAX - 25
-STACKSIZE	 = 2048
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/nshlib/Makefile b/apps/nshlib/Makefile
index 76cdac40d..4256a1091 100644
--- a/apps/nshlib/Makefile
+++ b/apps/nshlib/Makefile
@@ -107,6 +107,8 @@ endif
 ROOTDEPPATH = --dep-path .
 VPATH = 
 
+MAXOPTIMIZATION = -Os
+
 # Build targets
 
 all: .built
diff --git a/apps/position_estimator/.context b/apps/position_estimator/.context
deleted file mode 100644
index e69de29bb..000000000
--- a/apps/position_estimator/.context
+++ /dev/null
diff --git a/apps/px4/tests/.context b/apps/px4/tests/.context
deleted file mode 100644
index e69de29bb..000000000
--- a/apps/px4/tests/.context
+++ /dev/null
diff --git a/apps/px4/tests/Makefile b/apps/px4/tests/Makefile
deleted file mode 100644
index cb1c3c618..000000000
--- a/apps/px4/tests/Makefile
+++ /dev/null
@@ -1,42 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-
-#
-# Makefile to build assorted test cases
-#
-
-APPNAME		 = tests
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 12000
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/sensors/.context b/apps/sensors/.context
deleted file mode 100644
index e69de29bb..000000000
--- a/apps/sensors/.context
+++ /dev/null
diff --git a/apps/system/i2c/Makefile b/apps/system/i2c/Makefile
index 1ed7a2fae..7f0e6005b 100644
--- a/apps/system/i2c/Makefile
+++ b/apps/system/i2c/Makefile
@@ -64,8 +64,9 @@ VPATH		=
 APPNAME		= i2c
 PRIORITY	= SCHED_PRIORITY_DEFAULT
 STACKSIZE	= 2048
+MAXOPTIMIZATION = -Os
 
-# Build targets
+# Build Targets
 
 all:	.built
 .PHONY: context .depend depend clean distclean
diff --git a/apps/systemcmds/bl_update/Makefile b/apps/systemcmds/bl_update/Makefile
deleted file mode 100644
index 9d0e156f6..000000000
--- a/apps/systemcmds/bl_update/Makefile
+++ /dev/null
@@ -1,42 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-
-#
-# Build the eeprom tool.
-#
-
-APPNAME		 = bl_update
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 4096
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/systemcmds/boardinfo/.context b/apps/systemcmds/boardinfo/.context
deleted file mode 100644
index e69de29bb..000000000
--- a/apps/systemcmds/boardinfo/.context
+++ /dev/null
diff --git a/apps/systemcmds/boardinfo/Makefile b/apps/systemcmds/boardinfo/Makefile
deleted file mode 100644
index 753a6843e..000000000
--- a/apps/systemcmds/boardinfo/Makefile
+++ /dev/null
@@ -1,42 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-
-#
-# Build the boardinfo tool.
-#
-
-APPNAME		 = boardinfo
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/systemcmds/calibration/Makefile b/apps/systemcmds/calibration/Makefile
deleted file mode 100644
index aa1aa7761..000000000
--- a/apps/systemcmds/calibration/Makefile
+++ /dev/null
@@ -1,42 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-
-#
-# Makefile to build the calibration tool
-#
-
-APPNAME		 = calibration
-PRIORITY	 = SCHED_PRIORITY_MAX - 1
-STACKSIZE	 = 4096
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/systemcmds/calibration/calibration.c b/apps/systemcmds/calibration/calibration.c
deleted file mode 100755
index 7f8b9240f..000000000
--- a/apps/systemcmds/calibration/calibration.c
+++ /dev/null
@@ -1,147 +0,0 @@
-/****************************************************************************
- * calibration.c
- *
- *   Copyright (C) 2012 Ivan Ovinnikov. All rights reserved.
- *   Authors: Nils Wenzler <wenzlern@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 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 <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include "calibration.h"
-
-/****************************************************************************
- * Private Function Prototypes
- ****************************************************************************/
-
-static int calibrate_help(int argc, char *argv[]);
-static int calibrate_all(int argc, char *argv[]);
-
-__EXPORT int calibration_main(int argc, char *argv[]);
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-struct {
-	const char 	*name;
-	int	(* fn)(int argc, char *argv[]);
-	unsigned	options;
-#define OPT_NOHELP	(1<<0)
-#define OPT_NOALLTEST	(1<<1)
-} calibrates[] = {
-	{"range",	          range_cal,	0},
-	{"servo",	          servo_cal,	0},
-	{"all",	          calibrate_all,	OPT_NOALLTEST},
-	{"help",          calibrate_help,	OPT_NOALLTEST | OPT_NOHELP},
-	{NULL,		NULL}
-};
-
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-static int
-calibrate_help(int argc, char *argv[])
-{
-	unsigned	i;
-
-	printf("Available calibration routines:\n");
-
-	for (i = 0; calibrates[i].name; i++)
-		printf("  %s\n", calibrates[i].name);
-
-	return 0;
-}
-
-static int
-calibrate_all(int argc, char *argv[])
-{
-	unsigned	i;
-	char		*args[2] = {"all", NULL};
-
-	printf("Running all calibration routines...\n\n");
-
-	for (i = 0; calibrates[i].name; i++) {
-		printf("  %s:\n", calibrates[i].name);
-
-		if (calibrates[i].fn(1, args)) {
-			printf("  FAIL\n");
-
-		} else {
-			printf("  DONE\n");
-		}
-	}
-
-	return 0;
-}
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-void press_enter(void)
-{
-	int c;
-	printf("Press CTRL+ENTER to continue... \n");
-	fflush(stdout);
-
-	do c = getchar(); while ((c != '\n') && (c != EOF));
-}
-
-/****************************************************************************
- * Name: calibrate_main
- ****************************************************************************/
-
-int calibration_main(int argc, char *argv[])
-{
-	unsigned	i;
-
-	if (argc < 2) {
-		printf("calibration: missing name - 'calibration help' for a list of routines\n");
-		return 1;
-	}
-
-	for (i = 0; calibrates[i].name; i++) {
-		if (!strcmp(calibrates[i].name, argv[1]))
-			return calibrates[i].fn(argc - 1, argv + 1);
-	}
-
-	printf("calibrate: no routines called '%s' - 'calibration help' for a list of routines\n", argv[1]);
-	return 1;
-}
diff --git a/apps/systemcmds/calibration/channels_cal.c b/apps/systemcmds/calibration/channels_cal.c
deleted file mode 100755
index 575138b12..000000000
--- a/apps/systemcmds/calibration/channels_cal.c
+++ /dev/null
@@ -1,196 +0,0 @@
-/****************************************************************************
- * channels_cal.c
- *
- *   Copyright (C) 2012 Nils Wenzler. All rights reserved.
- *   Authors: Nils Wenzler <wenzlern@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 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 <stdio.h>
-#include <string.h>
-#include <stdlib.h>
-#include "calibration.h"
-
-/****************************************************************************
- * Defines
- ****************************************************************************/
-#define ABS(a)    (((a) < 0) ? -(a) : (a))
-#define MIN(a,b)  (((a)<(b))?(a):(b))
-#define MAX(a,b) (((a)>(b))?(a):(b))
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-//Store the values here before writing them to global_data_rc_channels
-uint16_t old_values[NR_CHANNELS];
-uint16_t cur_values[NR_CHANNELS];
-uint8_t  function_map[NR_CHANNELS];
-char names[12][9];
-
-
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-void press_enter_2(void)
-{
-	int c;
-	printf("Press CTRL+ENTER to continue... \n");
-	fflush(stdout);
-
-	do c = getchar(); while ((c != '\n') && (c != EOF));
-}
-
-/**This gets all current values and writes them to min or max
- */
-uint8_t get_val(uint16_t *buffer)
-{
-	if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
-		uint8_t i;
-
-		for (i = 0; i < NR_CHANNELS; i++) {
-			printf("Channel: %i\t RAW Value: %i: \n", i, global_data_rc_channels->chan[i].raw);
-			buffer[i] = global_data_rc_channels->chan[i].raw;
-		}
-
-		global_data_unlock(&global_data_rc_channels->access_conf);
-		return 0;
-
-	} else
-		return -1;
-}
-
-void set_channel(void)
-{
-	static uint8_t j = 0;
-	uint8_t i;
-
-	for (i = 0; i < NR_CHANNELS; i++) {
-		if (ABS(old_values - cur_values) > 50) {
-			function_map[j] = i;
-			strcpy(names[i], global_data_rc_channels->function_names[j]);
-			j++;
-		}
-	}
-}
-
-void write_dat(void)
-{
-	global_data_lock(&global_data_rc_channels->access_conf);
-	uint8_t i;
-
-	for (i = 0; i < NR_CHANNELS; i++) {
-		global_data_rc_channels->function[i] = function_map[i];
-		strcpy(global_data_rc_channels->chan[i].name, names[i]);
-
-		printf("Channel %i\t Function %s\n", i,
-		       global_data_rc_channels->chan[i].name);
-	}
-
-	global_data_unlock(&global_data_rc_channels->access_conf);
-}
-
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-int channels_cal(int argc, char *argv[])
-{
-
-	printf("This routine maps the input functions on the remote control\n");
-	printf("to the corresponding function (Throttle, Roll,..)\n");
-	printf("Always move the stick all the way\n");
-	press_enter_2();
-
-	printf("Pull the THROTTLE stick down\n");
-	press_enter_2();
-
-	while (get_val(old_values));
-
-	printf("Move the THROTTLE stick up\n ");
-	press_enter_2();
-
-	while (get_val(cur_values));
-
-	set_channel();
-
-	printf("Pull the PITCH stick down\n");
-	press_enter_2();
-
-	while (get_val(old_values));
-
-	printf("Move the PITCH stick up\n ");
-	press_enter_2();
-
-	while (get_val(cur_values));
-
-	set_channel();
-
-	printf("Put the ROLL stick to the left\n");
-	press_enter_2();
-
-	while (get_val(old_values));
-
-	printf("Put the ROLL stick to the right\n ");
-	press_enter_2();
-
-	while (get_val(cur_values));
-
-	set_channel();
-
-	printf("Put the YAW stick to the left\n");
-	press_enter_2();
-
-	while (get_val(old_values));
-
-	printf("Put the YAW stick to the right\n ");
-	press_enter_2();
-
-	while (get_val(cur_values));
-
-	set_channel();
-
-	uint8_t k;
-
-	for (k = 5; k < NR_CHANNELS; k++) {
-		function_map[k] = k;
-		strcpy(names[k], global_data_rc_channels->function_names[k]);
-	}
-
-//write the values to global_data_rc_channels
-	write_dat();
-
-	return 0;
-
-}
-
diff --git a/apps/systemcmds/calibration/range_cal.c b/apps/systemcmds/calibration/range_cal.c
deleted file mode 100755
index 159a0d06b..000000000
--- a/apps/systemcmds/calibration/range_cal.c
+++ /dev/null
@@ -1,224 +0,0 @@
-/****************************************************************************
- * range_cal.c
- *
- *   Copyright (C) 2012 Nils Wenzler. All rights reserved.
- *   Authors: Nils Wenzler <wenzlern@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 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 <stdio.h>
-#include <stdlib.h>
-#include "calibration.h"
-
-/****************************************************************************
- * Defines
- ****************************************************************************/
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-//Store the values here before writing them to global_data_rc_channels
-uint16_t max_values[NR_CHANNELS];
-uint16_t min_values[NR_CHANNELS];
-uint16_t mid_values[NR_CHANNELS];
-
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-/**This sets the middle values
- */
-uint8_t set_mid(void)
-{
-	if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
-		uint8_t i;
-
-		for (i = 0; i < NR_CHANNELS; i++) {
-			if (i == global_data_rc_channels->function[ROLL] ||
-			    i == global_data_rc_channels->function[YAW] ||
-			    i == global_data_rc_channels->function[PITCH]) {
-
-				mid_values[i] = global_data_rc_channels->chan[i].raw;
-
-			} else {
-				mid_values[i] = (max_values[i] + min_values[i]) / 2;
-			}
-
-		}
-
-		global_data_unlock(&global_data_rc_channels->access_conf);
-		return 0;
-
-	} else
-		return -1;
-}
-
-/**This gets all current values and writes them to min or max
- */
-uint8_t get_value(void)
-{
-	if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
-		uint8_t i;
-
-		for (i = 0; i < NR_CHANNELS; i++) {
-			//see if the value is bigger or smaller than 1500 (roughly neutral)
-			//and write to the appropriate array
-			if (global_data_rc_channels->chan[i].raw != 0 &&
-			    global_data_rc_channels->chan[i].raw < 1500) {
-				min_values[i] = global_data_rc_channels->chan[i].raw;
-
-			} else if (global_data_rc_channels->chan[i].raw != 0 &&
-				   global_data_rc_channels->chan[i].raw > 1500) {
-				max_values[i] = global_data_rc_channels->chan[i].raw;
-
-			} else {
-				max_values[i] = 0;
-				min_values[i] = 0;
-			}
-		}
-
-		global_data_unlock(&global_data_rc_channels->access_conf);
-		return 0;
-
-	} else
-		return -1;
-}
-
-
-void write_data(void)
-{
-	//  global_data_lock(&global_data_rc_channels->access_conf);
-	//  uint8_t i;
-	//  for(i=0; i < NR_CHANNELS; i++){
-	//    //Write the data to global_data_rc_channels (if not 0)
-	//    if(mid_values[i]!=0 && min_values[i]!=0 && max_values[i]!=0){
-	//      global_data_rc_channels->chan[i].scaling_factor =
-	//        10000/((max_values[i] - min_values[i])/2);
-	//
-	//      global_data_rc_channels->chan[i].mid = mid_values[i];
-	//    }
-	//
-	//    printf("Channel %i\t Function %s \t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n",
-	//        i,
-	//        global_data_rc_channels->function_name[global_data_rc_channels->function[i]],
-	//        min_values[i], max_values[i],
-	//        global_data_rc_channels->chan[i].scaling_factor,
-	//        global_data_rc_channels->chan[i].mid);
-	//  }
-	//  global_data_unlock(&global_data_rc_channels->access_conf);
-
-	//Write to the Parameter storage
-
-	global_data_parameter_storage->pm.param_values[PARAM_RC1_MIN] = min_values[0];
-	global_data_parameter_storage->pm.param_values[PARAM_RC2_MIN] = min_values[1];
-	global_data_parameter_storage->pm.param_values[PARAM_RC3_MIN] = min_values[2];
-	global_data_parameter_storage->pm.param_values[PARAM_RC4_MIN] = min_values[3];
-	global_data_parameter_storage->pm.param_values[PARAM_RC5_MIN] = min_values[4];
-	global_data_parameter_storage->pm.param_values[PARAM_RC6_MIN] = min_values[5];
-	global_data_parameter_storage->pm.param_values[PARAM_RC7_MIN] = min_values[6];
-	global_data_parameter_storage->pm.param_values[PARAM_RC8_MIN] = min_values[7];
-
-
-	global_data_parameter_storage->pm.param_values[PARAM_RC1_MAX] = max_values[0];
-	global_data_parameter_storage->pm.param_values[PARAM_RC2_MAX] = max_values[1];
-	global_data_parameter_storage->pm.param_values[PARAM_RC3_MAX] = max_values[2];
-	global_data_parameter_storage->pm.param_values[PARAM_RC4_MAX] = max_values[3];
-	global_data_parameter_storage->pm.param_values[PARAM_RC5_MAX] = max_values[4];
-	global_data_parameter_storage->pm.param_values[PARAM_RC6_MAX] = max_values[5];
-	global_data_parameter_storage->pm.param_values[PARAM_RC7_MAX] = max_values[6];
-	global_data_parameter_storage->pm.param_values[PARAM_RC8_MAX] = max_values[7];
-
-
-	global_data_parameter_storage->pm.param_values[PARAM_RC1_TRIM] = mid_values[0];
-	global_data_parameter_storage->pm.param_values[PARAM_RC2_TRIM] = mid_values[1];
-	global_data_parameter_storage->pm.param_values[PARAM_RC3_TRIM] = mid_values[2];
-	global_data_parameter_storage->pm.param_values[PARAM_RC4_TRIM] = mid_values[3];
-	global_data_parameter_storage->pm.param_values[PARAM_RC5_TRIM] = mid_values[4];
-	global_data_parameter_storage->pm.param_values[PARAM_RC6_TRIM] = mid_values[5];
-	global_data_parameter_storage->pm.param_values[PARAM_RC7_TRIM] = mid_values[6];
-	global_data_parameter_storage->pm.param_values[PARAM_RC8_TRIM] = mid_values[7];
-
-	usleep(3e6);
-	uint8_t i;
-
-	for (i = 0; i < NR_CHANNELS; i++) {
-		printf("Channel %i:\t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n",
-		       i,
-		       min_values[i], max_values[i],
-		       global_data_rc_channels->chan[i].scaling_factor,
-		       global_data_rc_channels->chan[i].mid);
-	}
-
-
-}
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-int range_cal(int argc, char *argv[])
-{
-
-	printf("The range calibration routine assumes you already did the channel\n");
-	printf("assignment\n");
-	printf("This routine chooses the minimum, maximum and middle\n");
-	printf("value for each channel separatly. The ROLL, PITCH and YAW function\n");
-	printf("get their middle value from the RC direct, for the rest it is\n");
-	printf("calculated out of the min and max values.\n");
-	press_enter();
-
-	printf("Hold both sticks in lower left corner and continue\n ");
-	press_enter();
-	usleep(500000);
-
-	while (get_value());
-
-	printf("Hold both sticks in upper right corner and continue\n");
-	press_enter();
-	usleep(500000);
-
-	while (get_value());
-
-	printf("Set the trim to 0 and leave the sticks in the neutral position\n");
-	press_enter();
-
-	//Loop until successfull
-	while (set_mid());
-
-	//write the values to global_data_rc_channels
-	write_data();
-
-	return 0;
-
-}
-
diff --git a/apps/systemcmds/calibration/servo_cal.c b/apps/systemcmds/calibration/servo_cal.c
deleted file mode 100644
index 96b3045a9..000000000
--- a/apps/systemcmds/calibration/servo_cal.c
+++ /dev/null
@@ -1,264 +0,0 @@
-/****************************************************************************
- * servo_cal.c
- *
- *   Copyright (C) 2012 Nils Wenzler. All rights reserved.
- *   Authors: Nils Wenzler <wenzlern@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 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 <stdio.h>
-#include <stdlib.h>
-#include <arch/board/drv_pwm_servo.h>
-#include <fcntl.h>
-#include "calibration.h"
-
-/****************************************************************************
- * Defines
- ****************************************************************************/
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-//Store the values here before writing them to global_data_rc_channels
-uint16_t max_values_servo[PWM_SERVO_MAX_CHANNELS];
-uint16_t min_values_servo[PWM_SERVO_MAX_CHANNELS];
-uint16_t mid_values_servo[PWM_SERVO_MAX_CHANNELS];
-
-// Servo loop thread
-
-pthread_t servo_calib_thread;
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-/**This sets the middle values
- */
-uint8_t set_mid_s(void)
-{
-	if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
-		uint8_t i;
-
-		for (i = 0; i < PWM_SERVO_MAX_CHANNELS; i++) {
-			if (i == global_data_rc_channels->function[ROLL] ||
-			    i == global_data_rc_channels->function[YAW] ||
-			    i == global_data_rc_channels->function[PITCH]) {
-
-				mid_values_servo[i] = global_data_rc_channels->chan[i].raw;
-
-			} else {
-				mid_values_servo[i] = (max_values_servo[i] + min_values_servo[i]) / 2;
-			}
-
-		}
-
-		global_data_unlock(&global_data_rc_channels->access_conf);
-		return 0;
-
-	} else
-		return -1;
-}
-
-/**This gets all current values and writes them to min or max
- */
-uint8_t get_value_s(void)
-{
-	if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
-		uint8_t i;
-
-		for (i = 0; i < PWM_SERVO_MAX_CHANNELS; i++) {
-			//see if the value is bigger or smaller than 1500 (roughly neutral)
-			//and write to the appropriate array
-			if (global_data_rc_channels->chan[i].raw != 0 &&
-			    global_data_rc_channels->chan[i].raw < 1500) {
-				min_values_servo[i] = global_data_rc_channels->chan[i].raw;
-
-			} else if (global_data_rc_channels->chan[i].raw != 0 &&
-				   global_data_rc_channels->chan[i].raw > 1500) {
-				max_values_servo[i] = global_data_rc_channels->chan[i].raw;
-
-			} else {
-				max_values_servo[i] = 0;
-				min_values_servo[i] = 0;
-			}
-		}
-
-		global_data_unlock(&global_data_rc_channels->access_conf);
-		return 0;
-
-	} else
-		return -1;
-}
-
-
-void write_data_s(void)
-{
-	//  global_data_lock(&global_data_rc_channels->access_conf);
-	//  uint8_t i;
-	//  for(i=0; i < NR_CHANNELS; i++){
-	//    //Write the data to global_data_rc_channels (if not 0)
-	//    if(mid_values_servo[i]!=0 && min_values_servo[i]!=0 && max_values_servo[i]!=0){
-	//      global_data_rc_channels->chan[i].scaling_factor =
-	//        10000/((max_values_servo[i] - min_values_servo[i])/2);
-	//
-	//      global_data_rc_channels->chan[i].mid = mid_values_servo[i];
-	//    }
-	//
-	//    printf("Channel %i\t Function %s \t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n",
-	//        i,
-	//        global_data_rc_channels->function_name[global_data_rc_channels->function[i]],
-	//        min_values_servo[i], max_values_servo[i],
-	//        global_data_rc_channels->chan[i].scaling_factor,
-	//        global_data_rc_channels->chan[i].mid);
-	//  }
-	//  global_data_unlock(&global_data_rc_channels->access_conf);
-
-	//Write to the Parameter storage
-
-
-
-	global_data_lock(&global_data_parameter_storage->access_conf);
-
-	global_data_parameter_storage->pm.param_values[PARAM_SERVO1_MIN] = min_values_servo[0];
-	global_data_parameter_storage->pm.param_values[PARAM_SERVO2_MIN] = min_values_servo[1];
-	global_data_parameter_storage->pm.param_values[PARAM_SERVO3_MIN] = min_values_servo[2];
-	global_data_parameter_storage->pm.param_values[PARAM_SERVO4_MIN] = min_values_servo[3];
-
-	global_data_parameter_storage->pm.param_values[PARAM_SERVO1_MAX] = max_values_servo[0];
-	global_data_parameter_storage->pm.param_values[PARAM_SERVO2_MAX] = max_values_servo[1];
-	global_data_parameter_storage->pm.param_values[PARAM_SERVO3_MAX] = max_values_servo[2];
-	global_data_parameter_storage->pm.param_values[PARAM_SERVO4_MAX] = max_values_servo[3];
-
-	global_data_parameter_storage->pm.param_values[PARAM_SERVO1_TRIM] = mid_values_servo[0];
-	global_data_parameter_storage->pm.param_values[PARAM_SERVO2_TRIM] = mid_values_servo[1];
-	global_data_parameter_storage->pm.param_values[PARAM_SERVO3_TRIM] = mid_values_servo[2];
-	global_data_parameter_storage->pm.param_values[PARAM_SERVO4_TRIM] = mid_values_servo[3];
-
-	global_data_unlock(&global_data_parameter_storage->access_conf);
-
-	usleep(3e6);
-	uint8_t i;
-
-	for (i = 0; i < NR_CHANNELS; i++) {
-		printf("Channel %i:\t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n",
-		       i,
-		       min_values_servo[i], max_values_servo[i],
-		       global_data_rc_channels->chan[i].scaling_factor,
-		       global_data_rc_channels->chan[i].mid);
-	}
-
-}
-
-static void *servo_loop(void *arg)
-{
-
-	// Set thread name
-	prctl(1, "calibration servo", getpid());
-
-	// initialize servos
-	int fd;
-	servo_position_t data[PWM_SERVO_MAX_CHANNELS];
-
-	fd = open("/dev/pwm_servo", O_RDWR);
-
-	if (fd < 0) {
-		printf("failed opening /dev/pwm_servo\n");
-	}
-
-	ioctl(fd, PWM_SERVO_ARM, 0);
-
-	while (1) {
-		int i;
-
-		for (i = 0; i < 4; i++) {
-			data[i] = global_data_rc_channels->chan[global_data_rc_channels->function[THROTTLE]].raw;
-		}
-
-		int result = write(fd, &data, sizeof(data));
-
-		if (result != sizeof(data)) {
-			printf("failed bulk-reading channel values\n");
-		}
-
-		// 5Hz loop
-		usleep(200000);
-	}
-
-	return NULL;
-}
-
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-int servo_cal(int argc, char *argv[])
-{
-	//	pthread_attr_t servo_loop_attr;
-	//	pthread_attr_init(&servo_loop_attr);
-	//	pthread_attr_setstacksize(&servo_loop_attr, 1024);
-	pthread_create(&servo_calib_thread, NULL, servo_loop, NULL);
-	pthread_join(servo_calib_thread, NULL);
-
-	printf("The servo calibration routine assumes you already did the channel\n");
-	printf("assignment with 'calibration channels'\n");
-	printf("This routine chooses the minimum, maximum and middle\n");
-	printf("value for each channel separately. The ROLL, PITCH and YAW function\n");
-	printf("get their middle value from the RC direct, for the rest it is\n");
-	printf("calculated out of the min and max values.\n");
-	press_enter();
-
-	printf("Hold both sticks in lower left corner and continue\n ");
-	press_enter();
-	usleep(500000);
-
-	while (get_value_s());
-
-	printf("Hold both sticks in upper right corner and continue\n");
-	press_enter();
-	usleep(500000);
-
-	while (get_value_s());
-
-	printf("Set the trim to 0 and leave the sticks in the neutral position\n");
-	press_enter();
-
-	//Loop until successfull
-	while (set_mid_s());
-
-	//write the values to global_data_rc_channels
-	write_data_s();
-
-	return 0;
-
-}
-
diff --git a/apps/systemcmds/delay_test/delay_test.c b/apps/systemcmds/delay_test/delay_test.c
deleted file mode 100644
index 51cce38fc..000000000
--- a/apps/systemcmds/delay_test/delay_test.c
+++ /dev/null
@@ -1,160 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file delay_test.c
- *
- * Simple but effective delay test using leds and a scope to measure
- * communication delays end-to-end accurately.
- *
- * @author Lorenz Meier <lm@inf.ethz.ch>
- */
-
-#include <nuttx/config.h>
-#include <unistd.h>
-#include <stdlib.h>
-#include <stdio.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <poll.h>
-#include <string.h>
-
-#include <systemlib/err.h>
-
-#include <drivers/drv_led.h>
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_tone_alarm.h>
-
-#include <uORB/topics/vehicle_vicon_position.h>
-#include <uORB/topics/vehicle_command.h>
-
-__EXPORT int delay_test_main(int argc, char *argv[]);
-static int led_on(int leds, int led);
-static int led_off(int leds, int led);
-
-int delay_test_main(int argc, char *argv[])
-{
-	bool vicon_msg = false;
-	bool command_msg = false;
-
-	if (argc > 1 && !strcmp(argv[1], "--help")) {
-		warnx("usage: delay_test [vicon] [command]\n");
-		exit(1);
-	}
-
-	if (argc > 1 && !strcmp(argv[1], "vicon")) {
-		vicon_msg = true;
-	}
-
-	if (argc > 1 && !strcmp(argv[1], "command")) {
-		command_msg = true;
-	}
-
-	int buzzer = open("/dev/tone_alarm", O_WRONLY);
-	int leds = open(LED_DEVICE_PATH, 0);
-
-	/* prepare use of amber led */
-	led_off(leds, LED_AMBER);
-
-	int topic;
-
-	/* subscribe to topic */
-	if (vicon_msg) {
-		topic = orb_subscribe(ORB_ID(vehicle_vicon_position));
-	} else if (command_msg) {
-		topic = orb_subscribe(ORB_ID(vehicle_command));
-	} else {
-		errx(1, "No topic selected for delay test, use --help for a list of topics.");
-	}
-
-	const int testcount = 20;
-
-	warnx("running %d iterations..\n", testcount);
-
-	struct pollfd fds[1];
-	fds[0].fd = topic;
-	fds[0].events = POLLIN;
-
-	/* display and sound error */
-	for (int i = 0; i < testcount; i++)
-	{
-		/* wait for topic */
-		int ret = poll(&fds[0], 1, 2000);
-
-		/* this would be bad... */
-		if (ret < 0) {
-			warnx("poll error %d", errno);
-			usleep(1000000);
-			continue;
-		}
-
-		/* do we have a topic update? */
-		if (fds[0].revents & POLLIN) {
-
-			/* copy object to disable poll ready state */
-			if (vicon_msg) {
-				struct vehicle_vicon_position_s vicon_position;
-				orb_copy(ORB_ID(vehicle_vicon_position), topic, &vicon_position);
-			} else if (command_msg) {
-				struct vehicle_command_s vehicle_command;
-				orb_copy(ORB_ID(vehicle_command), topic, &vehicle_command);
-			}
-
-			led_on(leds, LED_AMBER);
-			ioctl(buzzer, TONE_SET_ALARM, 4);
-			/* keep led on for 50 ms to make it barely visible */
-			usleep(50000);
-			led_off(leds, LED_AMBER);
-		}
-	}
-
-	/* stop alarm */
-	ioctl(buzzer, TONE_SET_ALARM, 0);
-
-	/* switch on leds */
-	led_on(leds, LED_BLUE);
-	led_on(leds, LED_AMBER);
-
-	exit(0);
-}
-
-static int led_off(int leds, int led)
-{
-	return ioctl(leds, LED_OFF, led);
-}
-
-static int led_on(int leds, int led)
-{
-	return ioctl(leds, LED_ON, led);
-}
\ No newline at end of file
diff --git a/apps/systemcmds/eeprom/Makefile b/apps/systemcmds/eeprom/Makefile
deleted file mode 100644
index 2f3db0fdc..000000000
--- a/apps/systemcmds/eeprom/Makefile
+++ /dev/null
@@ -1,42 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-
-#
-# Build the eeprom tool.
-#
-
-APPNAME		 = eeprom
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 4096
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/systemcmds/perf/.context b/apps/systemcmds/perf/.context
deleted file mode 100644
index e69de29bb..000000000
--- a/apps/systemcmds/perf/.context
+++ /dev/null
diff --git a/apps/systemcmds/preflight_check/Makefile b/apps/systemcmds/preflight_check/Makefile
deleted file mode 100644
index f138e2640..000000000
--- a/apps/systemcmds/preflight_check/Makefile
+++ /dev/null
@@ -1,42 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-
-#
-# Reboot command.
-#
-
-APPNAME		 = preflight_check
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/systemcmds/reboot/.context b/apps/systemcmds/reboot/.context
deleted file mode 100644
index e69de29bb..000000000
--- a/apps/systemcmds/reboot/.context
+++ /dev/null
diff --git a/apps/systemcmds/reboot/Makefile b/apps/systemcmds/reboot/Makefile
deleted file mode 100644
index 9609a24fd..000000000
--- a/apps/systemcmds/reboot/Makefile
+++ /dev/null
@@ -1,42 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-
-#
-# Reboot command.
-#
-
-APPNAME		 = reboot
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/systemcmds/top/.context b/apps/systemcmds/top/.context
deleted file mode 100644
index e69de29bb..000000000
--- a/apps/systemcmds/top/.context
+++ /dev/null
diff --git a/apps/systemcmds/top/Makefile b/apps/systemcmds/top/Makefile
deleted file mode 100644
index c45775f4b..000000000
--- a/apps/systemcmds/top/Makefile
+++ /dev/null
@@ -1,42 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-
-#
-# realtime system performance display
-#
-
-APPNAME		 = top
-PRIORITY	 = SCHED_PRIORITY_DEFAULT - 10
-STACKSIZE	 = 3000
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/uORB/.context b/apps/uORB/.context
deleted file mode 100644
index e69de29bb..000000000
--- a/apps/uORB/.context
+++ /dev/null
diff --git a/apps/uORB/Makefile b/apps/uORB/Makefile
deleted file mode 100644
index 64ba52e9c..000000000
--- a/apps/uORB/Makefile
+++ /dev/null
@@ -1,42 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-
-#
-# Makefile to build uORB
-#
-
-APPNAME		 = uorb
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 4096
-
-include $(APPDIR)/mk/app.mk
diff --git a/makefiles/board_px4fmu.mk b/makefiles/board_px4fmu.mk
new file mode 100644
index 000000000..837069644
--- /dev/null
+++ b/makefiles/board_px4fmu.mk
@@ -0,0 +1,10 @@
+#
+# Board-specific definitions for the PX4FMU
+#
+
+#
+# Configure the toolchain
+#
+CONFIG_ARCH			 = CORTEXM4F
+
+include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk
diff --git a/makefiles/board_px4io.mk b/makefiles/board_px4io.mk
new file mode 100644
index 000000000..b0eb2dae7
--- /dev/null
+++ b/makefiles/board_px4io.mk
@@ -0,0 +1,10 @@
+#
+# Board-specific definitions for the PX4IO
+#
+
+#
+# Configure the toolchain
+#
+CONFIG_ARCH			 = CORTEXM3
+
+include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk
diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk
new file mode 100644
index 000000000..07f9bdbc3
--- /dev/null
+++ b/makefiles/config_px4fmu_default.mk
@@ -0,0 +1,120 @@
+#
+# Makefile for the px4fmu_default configuration
+#
+
+#
+# Use the configuration's ROMFS.
+#
+ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_common
+
+#
+# Board support modules
+#
+MODULES		+= drivers/device
+MODULES		+= drivers/stm32
+MODULES		+= drivers/stm32/adc
+MODULES		+= drivers/stm32/tone_alarm
+MODULES		+= drivers/px4io
+MODULES		+= drivers/px4fmu
+MODULES		+= drivers/boards/px4fmu
+MODULES		+= drivers/ardrone_interface
+MODULES		+= drivers/l3gd20
+MODULES		+= drivers/bma180
+MODULES		+= drivers/mpu6000
+MODULES		+= drivers/hmc5883
+MODULES		+= drivers/ms5611
+MODULES		+= drivers/mb12xx
+MODULES		+= drivers/gps
+MODULES		+= drivers/hil
+MODULES		+= drivers/hott_telemetry
+MODULES		+= drivers/blinkm
+MODULES		+= drivers/mkblctrl
+MODULES		+= modules/sensors
+
+#
+# System commands
+#
+MODULES		+= systemcmds/eeprom
+MODULES		+= systemcmds/bl_update
+MODULES		+= systemcmds/boardinfo
+MODULES		+= systemcmds/i2c
+MODULES		+= systemcmds/mixer
+MODULES		+= systemcmds/param
+MODULES		+= systemcmds/perf
+MODULES		+= systemcmds/preflight_check
+MODULES		+= systemcmds/pwm
+MODULES		+= systemcmds/reboot
+MODULES		+= systemcmds/top
+MODULES		+= systemcmds/tests
+
+#
+# General system control
+#
+MODULES		+= modules/commander
+MODULES		+= modules/mavlink
+MODULES		+= modules/mavlink_onboard
+
+#
+# Estimation modules (EKF / other filters)
+#
+MODULES		+= modules/attitude_estimator_ekf
+MODULES		+= modules/position_estimator_mc
+MODULES		+= modules/position_estimator
+MODULES		+= modules/att_pos_estimator_ekf
+
+#
+# Vehicle Control
+#
+MODULES		+= modules/fixedwing_backside
+MODULES		+= modules/fixedwing_att_control
+MODULES		+= modules/fixedwing_pos_control
+MODULES		+= modules/multirotor_att_control
+MODULES		+= modules/multirotor_pos_control
+
+#
+# Logging
+#
+MODULES		+= modules/sdlog
+
+#
+# Libraries
+#
+MODULES		+= modules/systemlib
+MODULES		+= modules/systemlib/mixer
+MODULES		+= modules/mathlib
+MODULES		+= modules/mathlib/CMSIS
+MODULES		+= modules/controllib
+MODULES		+= modules/uORB
+
+#
+# Demo apps
+#
+#MODULES		+= examples/math_demo
+# Tutorial code from
+# https://pixhawk.ethz.ch/px4/dev/hello_sky
+#MODULES		+= examples/px4_simple_app
+
+# Tutorial code from
+# https://pixhawk.ethz.ch/px4/dev/daemon
+#MODULES		+= examples/px4_daemon_app
+
+# Tutorial code from
+# https://pixhawk.ethz.ch/px4/dev/debug_values
+#MODULES		+= examples/px4_mavlink_debug
+
+#
+# Transitional support - add commands from the NuttX export archive.
+#
+# In general, these should move to modules over time.
+#
+# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
+# to make the table a bit more readable.
+#
+define _B
+	$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
+endef
+
+#                  command                 priority                   stack  entrypoint
+BUILTIN_COMMANDS := \
+	$(call _B, sercon,                 ,                          2048,  sercon_main                ) \
+	$(call _B, serdis,                 ,                          2048,  serdis_main                )
diff --git a/makefiles/config_px4io_default.mk b/makefiles/config_px4io_default.mk
new file mode 100644
index 000000000..cf70391bc
--- /dev/null
+++ b/makefiles/config_px4io_default.mk
@@ -0,0 +1,10 @@
+#
+# Makefile for the px4io_default configuration
+#
+
+#
+# Board support modules
+#
+MODULES		+= drivers/stm32
+MODULES		+= drivers/boards/px4io
+MODULES		+= modules/px4iofirmware
\ No newline at end of file
diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk
new file mode 100644
index 000000000..fff0e1c65
--- /dev/null
+++ b/makefiles/firmware.mk
@@ -0,0 +1,443 @@
+#
+#   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.
+#
+
+#
+# Generic Makefile for PX4 firmware images.
+#
+# Requires:
+#
+# BOARD
+#	Must be set to a board name known to the PX4 distribution (as
+#	we need a corresponding NuttX export archive to link with).
+#
+# Optional:
+#
+# MODULES
+#	Contains a list of module paths or path fragments used
+#	to find modules. The names listed here are searched in
+#	the following directories:
+#		<absolute path>
+#		$(MODULE_SEARCH_DIRS)
+#		WORK_DIR
+#		MODULE_SRC
+#		PX4_MODULE_SRC
+#
+#	Application directories are expected to contain a module.mk
+#	file which provides build configuration for the module. See
+#	makefiles/module.mk for more details.
+#
+# BUILTIN_COMMANDS
+#	Contains a list of built-in commands not explicitly provided
+#	by modules / libraries. Each entry in this list is formatted
+#	as <command>.<priority>.<stacksize>.<entrypoint>
+#
+# PX4_BASE:
+#	Points to a PX4 distribution. Normally determined based on the
+#	path to this file.
+#
+# CONFIG:
+#	Used when searching for the configuration file, and available
+#	to module Makefiles to select optional features.
+#	If not set, CONFIG_FILE must be set and CONFIG will be derived
+#	automatically from it.
+#
+# CONFIG_FILE:
+#	If set, overrides the configuration file search logic. Sets
+#	CONFIG to the name of the configuration file, strips any
+#	leading config_ prefix and any suffix. e.g. config_board_foo.mk
+#	results in CONFIG being set to 'board_foo'.
+#
+# WORK_DIR:
+#	Sets the directory in which the firmware will be built. Defaults
+#	to the directory 'build' under the directory containing the
+#	parent Makefile.
+#
+# ROMFS_ROOT:
+#	If set to the path to a directory, a ROMFS image will be generated
+#	containing the files under the directory and linked into the final
+#	image.
+#
+# MODULE_SEARCH_DIRS:
+#	Extra directories to search first for MODULES before looking in the
+#	usual places.
+#
+
+################################################################################
+# Paths and configuration
+################################################################################
+
+#
+# Work out where this file is, so we can find other makefiles in the
+# same directory.
+#
+# If PX4_BASE wasn't set previously, work out what it should be
+# and set it here now.
+#
+MK_DIR			?= $(dir $(lastword $(MAKEFILE_LIST)))
+ifeq ($(PX4_BASE),)
+export PX4_BASE		:= $(abspath $(MK_DIR)/..)
+endif
+$(info %  PX4_BASE            = $(PX4_BASE))
+ifneq ($(words $(PX4_BASE)),1)
+$(error Cannot build when the PX4_BASE path contains one or more space characters.)
+endif
+
+#
+# Set a default target so that included makefiles or errors here don't 
+# cause confusion.
+#
+# XXX We could do something cute here with $(DEFAULT_GOAL) if it's not one
+#     of the maintenance targets and set CONFIG based on it.
+#
+all:		firmware
+
+#
+# Get path and tool config
+#
+include $(MK_DIR)/setup.mk
+
+#
+# Locate the configuration file
+#
+ifneq ($(CONFIG_FILE),)
+CONFIG			:= $(subst config_,,$(basename $(notdir $(CONFIG_FILE))))
+else
+CONFIG_FILE		:= $(wildcard $(PX4_MK_DIR)/config_$(CONFIG).mk)
+endif
+ifeq ($(CONFIG),)
+$(error Missing configuration name or file (specify with CONFIG=<config>))
+endif
+export CONFIG
+include $(CONFIG_FILE)
+$(info %  CONFIG              = $(CONFIG))
+
+#
+# Sanity-check the BOARD variable and then get the board config.
+# If BOARD was not set by the configuration, extract it automatically.
+#
+# The board config in turn will fetch the toolchain configuration.
+#
+ifeq ($(BOARD),)
+BOARD			:= $(firstword $(subst _, ,$(CONFIG)))
+endif
+BOARD_FILE		:= $(wildcard $(PX4_MK_DIR)/board_$(BOARD).mk)
+ifeq ($(BOARD_FILE),)
+$(error Config $(CONFIG) references board $(BOARD), but no board definition file found)
+endif
+export BOARD
+include $(BOARD_FILE)
+$(info %  BOARD               = $(BOARD))
+
+#
+# If WORK_DIR is not set, create a 'build' directory next to the
+# parent Makefile.
+#
+PARENT_MAKEFILE		:= $(lastword $(filter-out $(lastword $(MAKEFILE_LIST)),$(MAKEFILE_LIST)))
+ifeq ($(WORK_DIR),)
+export WORK_DIR		:= $(dir $(PARENT_MAKEFILE))build/
+endif
+$(info %  WORK_DIR            = $(WORK_DIR))
+
+#
+# Things that, if they change, might affect everything
+#
+GLOBAL_DEPS		+= $(MAKEFILE_LIST)
+
+#
+# Extra things we should clean
+#
+EXTRA_CLEANS		 = 
+
+################################################################################
+# Modules
+################################################################################
+
+#
+# We don't actually know what a module is called; all we have is a path fragment
+# that we can search for, and where we expect to find a module.mk file.
+#
+# As such, we replicate the successfully-found path inside WORK_DIR for the
+# module's build products in order to keep modules separated from each other.
+#
+# XXX If this becomes unwieldy or breaks for other reasons, we will need to 
+#     move to allocating directory names and keeping tabs on makefiles via
+#     the directory name. That will involve arithmetic (it'd probably be time
+#     for GMSL).
+
+# where to look for modules
+MODULE_SEARCH_DIRS	 += $(WORK_DIR) $(MODULE_SRC) $(PX4_MODULE_SRC)
+
+# sort and unique the modules list
+MODULES			:= $(sort $(MODULES))
+
+# locate the first instance of a module by full path or by looking on the
+# module search path
+define MODULE_SEARCH
+	$(abspath $(firstword $(wildcard $(1)/module.mk) \
+		$(foreach search_dir,$(MODULE_SEARCH_DIRS),$(wildcard $(search_dir)/$(1)/module.mk)) \
+		MISSING_$1))
+endef
+
+# make a list of module makefiles and check that we found them all
+MODULE_MKFILES		:= $(foreach module,$(MODULES),$(call MODULE_SEARCH,$(module)))
+MISSING_MODULES		:= $(subst MISSING_,,$(filter MISSING_%,$(MODULE_MKFILES)))
+ifneq ($(MISSING_MODULES),)
+$(error Can't find module(s): $(MISSING_MODULES))
+endif
+
+# Make a list of the object files we expect to build from modules
+# Note that this path will typically contain a double-slash at the WORK_DIR boundary; this must be
+# preserved as it is used below to get the absolute path for the module.mk file correct.
+#
+MODULE_OBJS		:= $(foreach path,$(dir $(MODULE_MKFILES)),$(WORK_DIR)$(path)module.pre.o)
+
+# rules to build module objects
+.PHONY: $(MODULE_OBJS)
+$(MODULE_OBJS):		relpath = $(patsubst $(WORK_DIR)%,%,$@)
+$(MODULE_OBJS):		mkfile = $(patsubst %module.pre.o,%module.mk,$(relpath))
+$(MODULE_OBJS):		$(GLOBAL_DEPS) $(NUTTX_CONFIG_HEADER)
+	$(Q) $(MAKE) -r -f $(PX4_MK_DIR)module.mk \
+		MODULE_WORK_DIR=$(dir $@) \
+		MODULE_OBJ=$@ \
+		MODULE_MK=$(mkfile) \
+		MODULE_NAME=$(lastword $(subst /, ,$(@D))) \
+		module
+
+# make a list of phony clean targets for modules
+MODULE_CLEANS		:= $(foreach path,$(dir $(MODULE_MKFILES)),$(WORK_DIR)$(path)/clean)
+
+# rules to clean modules
+.PHONY: $(MODULE_CLEANS)
+$(MODULE_CLEANS):	relpath = $(patsubst $(WORK_DIR)%,%,$@)
+$(MODULE_CLEANS):	mkfile = $(patsubst %clean,%module.mk,$(relpath))
+$(MODULE_CLEANS):
+	@$(ECHO) %% cleaning using $(mkfile)
+	$(Q) $(MAKE) -r -f $(PX4_MK_DIR)module.mk \
+	MODULE_WORK_DIR=$(dir $@) \
+	MODULE_MK=$(mkfile) \
+	clean
+
+################################################################################
+# NuttX libraries and paths
+################################################################################
+
+include $(PX4_MK_DIR)/nuttx.mk
+
+################################################################################
+# ROMFS generation
+################################################################################
+
+ifneq ($(ROMFS_ROOT),)
+ifeq ($(wildcard $(ROMFS_ROOT)),)
+$(error ROMFS_ROOT specifies a directory that does not exist)
+endif
+
+#
+# Note that there is no support for more than one root directory or constructing
+# a root from several templates. That would be a nice feature.
+#
+
+# Add dependencies on anything in the ROMFS root
+ROMFS_DEPS		+= $(wildcard \
+			     (ROMFS_ROOT)/* \
+			     (ROMFS_ROOT)/*/* \
+			     (ROMFS_ROOT)/*/*/* \
+			     (ROMFS_ROOT)/*/*/*/* \
+			     (ROMFS_ROOT)/*/*/*/*/* \
+			     (ROMFS_ROOT)/*/*/*/*/*/*)
+ROMFS_IMG		 = $(WORK_DIR)romfs.img
+ROMFS_CSRC		 = $(ROMFS_IMG:.img=.c)
+ROMFS_OBJ		 = $(ROMFS_CSRC:.c=.o)
+LIBS			+= $(ROMFS_OBJ)
+LINK_DEPS		+= $(ROMFS_OBJ)
+
+# Turn the ROMFS image into an object file
+$(ROMFS_OBJ): $(ROMFS_IMG) $(GLOBAL_DEPS)
+	$(call BIN_TO_OBJ,$<,$@,romfs_img)
+
+# Generate the ROMFS image from the root
+$(ROMFS_IMG): $(ROMFS_DEPS) $(GLOBAL_DEPS)
+	@$(ECHO) "ROMFS:   $@"
+	$(Q) $(GENROMFS) -f $@ -d $(ROMFS_ROOT) -V "NSHInitVol"
+
+EXTRA_CLEANS		+= $(ROMGS_OBJ) $(ROMFS_IMG)
+
+endif
+
+################################################################################
+# Builtin command list generation
+################################################################################
+
+#
+# Builtin commands can be generated by the configuration, in which case they
+# must refer to commands that already exist, or indirectly generated by modules
+# when they are built.
+#
+# The configuration supplies builtin command information in the BUILTIN_COMMANDS
+# variable. Applications make empty files in $(WORK_DIR)/builtin_commands whose
+# filename contains the same information.
+#
+# In each case, the command information consists of four fields separated with a
+# period. These fields are the command's name, its thread priority, its stack size
+# and the name of the function to call when starting the thread.
+#
+BUILTIN_CSRC		 = $(WORK_DIR)builtin_commands.c
+
+# command definitions from modules (may be empty at Makefile parsing time...)
+MODULE_COMMANDS		 = $(subst COMMAND.,,$(notdir $(wildcard $(WORK_DIR)builtin_commands/COMMAND.*)))
+
+# We must have at least one pre-defined builtin command in order to generate
+# any of this.
+#
+ifneq ($(BUILTIN_COMMANDS),)
+
+# (BUILTIN_PROTO,<cmdspec>,<outputfile>)
+define BUILTIN_PROTO
+	$(ECHO) 'extern int $(word 4,$1)(int argc, char *argv[]);' >> $2;
+endef
+
+# (BUILTIN_DEF,<cmdspec>,<outputfile>)
+define BUILTIN_DEF
+	$(ECHO) '    {"$(word 1,$1)", $(word 2,$1), $(word 3,$1), $(word 4,$1)},' >> $2;
+endef
+
+# Don't generate until modules have updated their command files
+$(BUILTIN_CSRC):	$(GLOBAL_DEPS) $(MODULE_OBJS) $(BUILTIN_COMMAND_FILES)
+	@$(ECHO) "CMDS:    $@"
+	$(Q) $(ECHO) '/* builtin command list - automatically generated, do not edit */' > $@
+	$(Q) $(ECHO) '#include <nuttx/config.h>' >> $@
+	$(Q) $(ECHO) '#include <nuttx/binfmt/builtin.h>' >> $@
+	$(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_PROTO,$(subst ., ,$(spec)),$@))
+	$(Q) $(foreach spec,$(MODULE_COMMANDS),$(call BUILTIN_PROTO,$(subst ., ,$(spec)),$@))
+	$(Q) $(ECHO) 'const struct builtin_s g_builtins[] = {' >> $@
+	$(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_DEF,$(subst ., ,$(spec)),$@))
+	$(Q) $(foreach spec,$(MODULE_COMMANDS),$(call BUILTIN_DEF,$(subst ., ,$(spec)),$@))
+	$(Q) $(ECHO) '    {NULL, 0, 0, NULL}' >> $@
+	$(Q) $(ECHO) '};' >> $@
+	$(Q) $(ECHO) 'const int g_builtin_count = $(words $(BUILTIN_COMMANDS) $(MODULE_COMMANDS));' >> $@
+
+SRCS			+= $(BUILTIN_CSRC)
+
+EXTRA_CLEANS		+= $(BUILTIN_CSRC)
+
+endif
+
+################################################################################
+# Default SRCS generation
+################################################################################
+
+#
+# If there are no SRCS, the build will fail; in that case, generate an empty
+# source file.
+#
+ifeq ($(SRCS),)
+EMPTY_SRC		 = $(WORK_DIR)empty.c
+$(EMPTY_SRC):
+	$(Q) $(ECHO) '/* this is an empty file */' > $@
+
+SRCS			+= $(EMPTY_SRC)
+endif
+
+################################################################################
+# Build rules
+################################################################################
+
+#
+# What we're going to build.
+#
+PRODUCT_BUNDLE		 = $(WORK_DIR)firmware.px4
+PRODUCT_BIN		 = $(WORK_DIR)firmware.bin
+PRODUCT_ELF		 = $(WORK_DIR)firmware.elf
+
+.PHONY:			firmware
+firmware:		$(PRODUCT_BUNDLE)
+
+#
+# Object files we will generate from sources
+#
+OBJS			:= $(foreach src,$(SRCS),$(WORK_DIR)$(src).o)
+
+#
+# SRCS -> OBJS rules
+#
+
+$(OBJS):		$(GLOBAL_DEPS)
+
+$(filter %.c.o,$(OBJS)): $(WORK_DIR)%.c.o: %.c $(GLOBAL_DEPS)
+	$(call COMPILE,$<,$@)
+
+$(filter %.cpp.o,$(OBJS)): $(WORK_DIR)%.cpp.o: %.cpp $(GLOBAL_DEPS)
+	$(call COMPILEXX,$<,$@)
+
+$(filter %.S.o,$(OBJS)): $(WORK_DIR)%.S.o: %.S $(GLOBAL_DEPS)
+	$(call ASSEMBLE,$<,$@)
+
+#
+# Built product rules
+#
+
+$(PRODUCT_BUNDLE):	$(PRODUCT_BIN)
+	@$(ECHO) %% Generating $@
+	$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \
+		--git_identity $(PX4_BASE) \
+		--image $< > $@
+
+$(PRODUCT_BIN):		$(PRODUCT_ELF)
+	$(call SYM_TO_BIN,$<,$@)
+
+$(PRODUCT_ELF):		$(OBJS) $(MODULE_OBJS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
+	$(call LINK,$@,$(OBJS) $(MODULE_OBJS))
+
+#
+# Utility rules
+#
+
+.PHONY: upload
+upload:	$(PRODUCT_BUNDLE) $(PRODUCT_BIN)
+	$(Q) $(MAKE) -f $(PX4_MK_DIR)/upload.mk \
+		METHOD=serial \
+		CONFIG=$(CONFIG) \
+		BOARD=$(BOARD) \
+		BUNDLE=$(PRODUCT_BUNDLE) \
+		BIN=$(PRODUCT_BIN)
+
+.PHONY: clean
+clean:			$(MODULE_CLEANS)
+	@$(ECHO) %% cleaning
+	$(Q) $(REMOVE) $(PRODUCT_BUNDLE) $(PRODUCT_BIN) $(PRODUCT_ELF)
+	$(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES) $(EXTRA_CLEANS)
+	$(Q) $(RMDIR) $(NUTTX_EXPORT_DIR)
+
+
+#
+# DEP_INCLUDES is defined by the toolchain include in terms of $(OBJS)
+#
+-include $(DEP_INCLUDES)
diff --git a/makefiles/module.mk b/makefiles/module.mk
new file mode 100644
index 000000000..0fe6f0ffe
--- /dev/null
+++ b/makefiles/module.mk
@@ -0,0 +1,230 @@
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+
+#
+# Framework makefile for PX4 modules
+#
+# This makefile is invoked by firmware.mk to build each of the modules
+# that will subsequently be linked into the firmware image.
+#
+# Applications are built as prelinked objects with a limited set of exported
+# symbols, as the global namespace is shared between all modules. Normally an 
+# module will just export one or more <command>_main functions.
+#
+
+#
+# Variables that can be set by the module's module.mk:
+#
+#
+# SRCS			(required)
+#
+#	Lists the .c, cpp and .S files that should be compiled/assembled to
+#	produce the module.
+#
+# MODULE_COMMAND	(optional)
+# MODULE_ENTRYPOINT	(optional if MODULE_COMMAND is set)
+# MODULE_STACKSIZE	(optional if MODULE_COMMAND is set)
+# MODULE_PRIORITY	(optional if MODULE_COMMAND is set)
+#
+#	Defines a single builtin command exported by the module.
+#	MODULE_COMMAND must be unique for any configuration, but need not be the 
+#	same as the module directory name.
+#	
+#	If MODULE_ENTRYPOINT is set, it names the function (which must be exported)
+#	that will be the entrypoint for the builtin command. It defaults to
+#	$(MODULE_COMMAND)_main.
+#
+#	If MODULE_STACKSIZE is set, it is the size in bytes of the stack to be
+#	allocated for the builtin command. If it is not set, it defaults
+#	to CONFIG_PTHREAD_STACK_DEFAULT.
+#
+#	If MODULE_PRIORITY is set, it is the thread priority for the builtin
+#	command. If it is not set, it defaults to SCHED_PRIORITY_DEFAULT.
+#
+# MODULE_COMMANDS	(optional if MODULE_COMMAND is not set)
+#
+#	Defines builtin commands exported by the module. Each word in
+#	the list should be formatted as: 
+#		<command>.<priority>.<stacksize>.<entrypoint>
+#
+# INCLUDE_DIRS		(optional, must be appended)
+#
+#	The list of directories searched for include files. If non-standard
+#	includes (e.g. those from another module) are required, paths to search
+#	can be added here.
+#
+# DEFAULT_VISIBILITY	(optional)
+#
+#	If not set, global symbols defined in a module will not be visible 
+#	outside the module. Symbols that should be globally visible must be
+#	marked __EXPORT.
+#	If set, global symbols defined in a module will be globally visible.
+#
+
+#
+# Variables visible to the module's module.mk:
+#
+# CONFIG
+# BOARD
+# MODULE_WORK_DIR
+# MODULE_OBJ
+# MODULE_MK
+# Anything set in setup.mk, board_$(BOARD).mk and the toolchain file.
+# Anything exported from config_$(CONFIG).mk
+#
+
+################################################################################
+# No user-serviceable parts below.
+################################################################################
+
+ifeq ($(MODULE_MK),)
+$(error No module makefile specified)
+endif
+$(info %% MODULE_MK           = $(MODULE_MK))
+
+#
+# Get the board/toolchain config
+#
+include $(PX4_MK_DIR)/board_$(BOARD).mk
+
+#
+# Get the module's config
+#
+include $(MODULE_MK)
+MODULE_SRC		:= $(dir $(MODULE_MK))
+$(info %  MODULE_NAME         = $(MODULE_NAME))
+$(info %  MODULE_SRC          = $(MODULE_SRC))
+$(info %  MODULE_OBJ          = $(MODULE_OBJ))
+$(info %  MODULE_WORK_DIR     = $(MODULE_WORK_DIR))
+
+#
+# Things that, if they change, might affect everything
+#
+GLOBAL_DEPS		+= $(MAKEFILE_LIST)
+
+################################################################################
+# Builtin command definitions
+################################################################################
+
+ifneq ($(MODULE_COMMAND),)
+MODULE_ENTRYPOINT	?= $(MODULE_COMMAND)_main
+MODULE_STACKSIZE	?= CONFIG_PTHREAD_STACK_DEFAULT
+MODULE_PRIORITY		?= SCHED_PRIORITY_DEFAULT
+MODULE_COMMANDS		+= $(MODULE_COMMAND).$(MODULE_PRIORITY).$(MODULE_STACKSIZE).$(MODULE_ENTRYPOINT)
+endif
+
+ifneq ($(MODULE_COMMANDS),)
+MODULE_COMMAND_FILES	:= $(addprefix $(WORK_DIR)/builtin_commands/COMMAND.,$(MODULE_COMMANDS))
+
+# Create the command files
+# Ensure that there is only one entry for each command
+#
+.PHONY: $(MODULE_COMMAND_FILES)
+$(MODULE_COMMAND_FILES): command = $(word 2,$(subst ., ,$(notdir $(@))))
+$(MODULE_COMMAND_FILES): exclude = $(dir $@)COMMAND.$(command).*
+$(MODULE_COMMAND_FILES): $(GLOBAL_DEPS)
+	@$(REMOVE) -f $(exclude)
+	@$(MKDIR) -p $(dir $@)
+	@$(ECHO) "CMD:     $(command)"
+	$(Q) $(TOUCH) $@
+endif
+
+################################################################################
+# Adjust compilation flags to implement EXPORT
+################################################################################
+
+ifeq ($(DEFAULT_VISIBILITY),)
+DEFAULT_VISIBILITY = hidden
+else
+DEFAULT_VISIBILITY = default
+endif
+
+CFLAGS		+= -fvisibility=$(DEFAULT_VISIBILITY) -include $(PX4_INCLUDE_DIR)visibility.h
+CXXFLAGS	+= -fvisibility=$(DEFAULT_VISIBILITY) -include $(PX4_INCLUDE_DIR)visibility.h
+
+################################################################################
+# Build rules
+################################################################################
+
+#
+# What we're going to build
+#
+module:			$(MODULE_OBJ) $(MODULE_COMMAND_FILES)
+
+#
+# Locate sources (allows relative source paths in module.mk)
+#
+define SRC_SEARCH
+	$(abspath $(firstword $(wildcard $1) $(wildcard $(MODULE_SRC)/$1) MISSING_$1))
+endef
+
+ABS_SRCS		?= $(foreach src,$(SRCS),$(call SRC_SEARCH,$(src)))
+MISSING_SRCS		:= $(subst MISSING_,,$(filter MISSING_%,$(ABS_SRCS)))
+ifneq ($(MISSING_SRCS),)
+$(error $(MODULE_MK): missing in SRCS: $(MISSING_SRCS))
+endif
+ifeq ($(ABS_SRCS),)
+$(error $(MODULE_MK): nothing to compile in SRCS)
+endif
+
+#
+# Object files we will generate from sources
+#
+OBJS			:= $(foreach src,$(ABS_SRCS),$(MODULE_WORK_DIR)$(src).o)
+
+#
+# SRCS -> OBJS rules
+#
+
+$(OBJS):		$(GLOBAL_DEPS)
+
+$(filter %.c.o,$(OBJS)): $(MODULE_WORK_DIR)%.c.o: %.c $(GLOBAL_DEPS)
+	$(call COMPILE,$<,$@)
+
+$(filter %.cpp.o,$(OBJS)): $(MODULE_WORK_DIR)%.cpp.o: %.cpp $(GLOBAL_DEPS)
+	$(call COMPILEXX,$<,$@)
+
+$(filter %.S.o,$(OBJS)): $(MODULE_WORK_DIR)%.S.o: %.S $(GLOBAL_DEPS)
+	$(call ASSEMBLE,$<,$@)
+
+#
+# Built product rules
+#
+
+$(MODULE_OBJ):		$(OBJS) $(GLOBAL_DEPS)
+	$(call PRELINK,$@,$(OBJS))
+
+#
+# Utility rules
+#
+
+clean:
+	$(Q) $(REMOVE) $(MODULE_PRELINK) $(OBJS)
diff --git a/apps/px4io/Makefile b/makefiles/nuttx.mk
index 0eb3ffcf7..346735a02 100644
--- a/apps/px4io/Makefile
+++ b/makefiles/nuttx.mk
@@ -1,4 +1,3 @@
-############################################################################
 #
 #   Copyright (C) 2012 PX4 Development Team. All rights reserved.
 #
@@ -29,30 +28,51 @@
 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 #
-############################################################################
 
 #
-# Build the px4io application.
+# Rules and definitions related to handling the NuttX export archives when
+# building firmware.
 #
 
 #
-# Note that we pull a couple of specific files from the systemlib, since
-# we can't support it all.
+# Check that the NuttX archive for the selected board is available.
 #
-CSRCS		= adc.c \
-		  controls.c \
-		  dsm.c \
-		  i2c.c \
-		  px4io.c \
-		  registers.c \
-		  safety.c \
-		  sbus.c \
-		  ../systemlib/hx_stream.c \
-		  ../systemlib/perf_counter.c \
-		  ../systemlib/up_cxxinitialize.c
+NUTTX_ARCHIVE		:= $(wildcard $(ARCHIVE_DIR)$(BOARD).export)
+ifeq ($(NUTTX_ARCHIVE),)
+$(error The NuttX export archive for $(BOARD) is missing from $(ARCHIVE_DIR) - try 'make archives' in $(PX4_BASE))
+endif
 
-CXXSRCS		= mixer.cpp
+#
+# The NuttX config header should always be present in the NuttX archive, and
+# if it changes, everything should be rebuilt. So, use it as the trigger to
+# unpack the NuttX archive.
+#
+NUTTX_EXPORT_DIR	 = $(WORK_DIR)nuttx-export/
+NUTTX_CONFIG_HEADER	 = $(NUTTX_EXPORT_DIR)include/nuttx/config.h
+$(info %  NUTTX_EXPORT_DIR    = $(NUTTX_EXPORT_DIR))
+$(info %  NUTTX_CONFIG_HEADER = $(NUTTX_CONFIG_HEADER))
+
+
+GLOBAL_DEPS		+= $(NUTTX_CONFIG_HEADER)
+
+#
+# Use the linker script from the NuttX export
+#
+LDSCRIPT		+= $(NUTTX_EXPORT_DIR)build/ld.script
+
+#
+# Add directories from the NuttX export to the relevant search paths
+#
+INCLUDE_DIRS		+= $(NUTTX_EXPORT_DIR)include \
+			   $(NUTTX_EXPORT_DIR)arch/chip \
+			   $(NUTTX_EXPORT_DIR)arch/common
 
-INCLUDES	 = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
+LIB_DIRS		+= $(NUTTX_EXPORT_DIR)libs
+LIBS			+= -lapps -lnuttx
+LINK_DEPS		+= $(NUTTX_EXPORT_DIR)libs/libapps.a \
+			   $(NUTTX_EXPORT_DIR)libs/libnuttx.a
 
-include $(APPDIR)/mk/app.mk
+$(NUTTX_CONFIG_HEADER):	$(NUTTX_ARCHIVE)
+	@$(ECHO) %% Unpacking $(NUTTX_ARCHIVE)
+	$(Q) $(UNZIP_CMD) -q -o -d $(WORK_DIR) $(NUTTX_ARCHIVE)
+	$(Q) $(TOUCH) $@
diff --git a/makefiles/setup.mk b/makefiles/setup.mk
new file mode 100644
index 000000000..111193093
--- /dev/null
+++ b/makefiles/setup.mk
@@ -0,0 +1,91 @@
+#
+#   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.
+#
+
+#
+# Path and tool setup
+#
+
+#
+# Some useful paths.
+#
+# Note that in general we always keep directory paths with the separator
+# at the end, and join paths without explicit separators. This reduces 
+# the number of duplicate slashes we have lying around in paths,
+# and is consistent with joining the results of $(dir) and $(notdir).
+#
+export PX4_INCLUDE_DIR	 = $(abspath $(PX4_BASE)/src/include)/
+export PX4_MODULE_SRC	 = $(abspath $(PX4_BASE)/src)/
+export PX4_MK_DIR	 = $(abspath $(PX4_BASE)/makefiles)/
+export NUTTX_SRC	 = $(abspath $(PX4_BASE)/nuttx)/
+export NUTTX_APP_SRC	 = $(abspath $(PX4_BASE)/apps)/
+export MAVLINK_SRC	 = $(abspath $(PX4_BASE)/mavlink)/
+export ROMFS_SRC	 = $(abspath $(PX4_BASE)/ROMFS)/
+export IMAGE_DIR	 = $(abspath $(PX4_BASE)/Images)/
+export BUILD_DIR	 = $(abspath $(PX4_BASE)/Build)/
+export ARCHIVE_DIR	 = $(abspath $(PX4_BASE)/Archives)/
+
+#
+# Default include paths
+#
+export INCLUDE_DIRS	:= $(PX4_MODULE_SRC) \
+			   $(PX4_MODULE_SRC)/modules/ \
+			   $(PX4_INCLUDE_DIR)
+
+#
+# Tools
+#
+export MKFW		 = $(PX4_BASE)/Tools/px_mkfw.py
+export UPLOADER		 = $(PX4_BASE)/Tools/px_uploader.py
+export COPY		 = cp
+export REMOVE		 = rm -f
+export RMDIR		 = rm -rf
+export GENROMFS		 = genromfs
+export TOUCH		 = touch
+export MKDIR		 = mkdir
+export ECHO		 = echo
+export UNZIP_CMD	 = unzip
+export PYTHON		 = python
+export OPENOCD		 = openocd
+
+#
+# Host-specific paths, hacks and fixups
+#
+export SYSTYPE		:= $(shell uname -s)
+
+ifeq ($(SYSTYPE),Darwin)
+# Eclipse may not have the toolchain on its path.
+export PATH		:= $(PATH):/usr/local/bin
+endif
+
+#
+# Makefile debugging.
+#
+export Q		:= $(if $(V),,@)
diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk
new file mode 100644
index 000000000..32a277373
--- /dev/null
+++ b/makefiles/toolchain_gnu-arm-eabi.mk
@@ -0,0 +1,265 @@
+#
+#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+
+#
+# Definitions for a generic GNU ARM-EABI toolchain
+#
+
+#$(info TOOLCHAIN  gnu-arm-eabi)
+
+# Toolchain commands. Normally only used inside this file.
+#
+CROSSDEV		 = arm-none-eabi-
+
+CC			 = $(CROSSDEV)gcc
+CXX			 = $(CROSSDEV)g++
+CPP			 = $(CROSSDEV)gcc -E
+LD			 = $(CROSSDEV)ld
+AR			 = $(CROSSDEV)ar rcs
+NM			 = $(CROSSDEV)nm
+OBJCOPY			 = $(CROSSDEV)objcopy
+OBJDUMP			 = $(CROSSDEV)objdump
+
+# XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup
+
+MAXOPTIMIZATION		 = -O3
+
+# Base CPU flags for each of the supported architectures.
+#
+ARCHCPUFLAGS_CORTEXM4F	 = -mcpu=cortex-m4 \
+			   -mthumb \
+			   -march=armv7e-m \
+			   -mfpu=fpv4-sp-d16 \
+			   -mfloat-abi=hard
+
+ARCHCPUFLAGS_CORTEXM4	 = -mcpu=cortex-m4 \
+			   -mthumb \
+			   -march=armv7e-m \
+			   -mfloat-abi=soft
+
+ARCHCPUFLAGS_CORTEXM3	 = -mcpu=cortex-m3 \
+			   -mthumb \
+			   -march=armv7-m \
+			   -mfloat-abi=soft
+
+# Pick the right set of flags for the architecture.
+#
+ARCHCPUFLAGS		 = $(ARCHCPUFLAGS_$(CONFIG_ARCH))
+ifeq ($(ARCHCPUFLAGS),)
+$(error Must set CONFIG_ARCH to one of CORTEXM4F, CORTEXM4 or CORTEXM3)
+endif
+
+# optimisation flags
+#
+ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
+			   -g \
+			   -fno-strict-aliasing \
+			   -fno-strength-reduce \
+			   -fomit-frame-pointer \
+   			   -funsafe-math-optimizations \
+   			   -fno-builtin-printf \
+   			   -ffunction-sections \
+   			   -fdata-sections
+
+# enable precise stack overflow tracking
+# note - requires corresponding support in NuttX
+INSTRUMENTATIONDEFINES	 = -finstrument-functions \
+			   -ffixed-r10
+# Language-specific flags
+#
+ARCHCFLAGS		 = -std=gnu99
+ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x
+
+# Generic warnings
+#
+ARCHWARNINGS		 = -Wall \
+			   -Wextra \
+			   -Wdouble-promotion \
+			   -Wshadow \
+			   -Wfloat-equal \
+			   -Wframe-larger-than=1024 \
+			   -Wpointer-arith \
+			   -Wlogical-op \
+			   -Wmissing-declarations \
+			   -Wpacked \
+			   -Wno-unused-parameter
+#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
+#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
+#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
+
+# C-specific warnings
+#
+ARCHCWARNINGS		 = $(ARCHWARNINGS) \
+			   -Wbad-function-cast \
+			   -Wstrict-prototypes \
+			   -Wold-style-declaration \
+			   -Wmissing-parameter-type \
+			   -Wmissing-prototypes \
+			   -Wnested-externs \
+			   -Wunsuffixed-float-constants
+
+# C++-specific warnings
+#
+ARCHWARNINGSXX		 = $(ARCHWARNINGS)
+
+# pull in *just* libm from the toolchain ... this is grody
+LIBM			:= $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a)
+EXTRA_LIBS		+= $(LIBM)
+
+# Flags we pass to the C compiler
+#
+CFLAGS			 = $(ARCHCFLAGS) \
+			   $(ARCHCWARNINGS) \
+			   $(ARCHOPTIMIZATION) \
+			   $(ARCHCPUFLAGS) \
+			   $(ARCHINCLUDES) \
+			   $(INSTRUMENTATIONDEFINES) \
+			   $(ARCHDEFINES) \
+			   $(EXTRADEFINES) \
+			   -fno-common \
+			   $(addprefix -I,$(INCLUDE_DIRS))
+
+# Flags we pass to the C++ compiler
+#
+CXXFLAGS		 = $(ARCHCXXFLAGS) \
+			   $(ARCHWARNINGSXX) \
+			   $(ARCHOPTIMIZATION) \
+			   $(ARCHCPUFLAGS) \
+			   $(ARCHXXINCLUDES) \
+			   $(INSTRUMENTATIONDEFINES) \
+			   $(ARCHDEFINES) \
+			   $(EXTRADEFINES) \
+			   -DCONFIG_WCHAR_BUILTIN \
+			   $(addprefix -I,$(INCLUDE_DIRS))
+
+# Flags we pass to the assembler
+#
+AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__
+
+# Flags we pass to the linker
+#
+LDFLAGS			+= --warn-common \
+			   --gc-sections \
+			   $(addprefix -T,$(LDSCRIPT)) \
+			   $(addprefix -L,$(LIB_DIRS))
+
+# Compiler support library
+#
+LIBGCC			:= $(shell $(CC) $(ARCHCPUFLAGS) -print-libgcc-file-name)
+
+# Files that the final link depends on
+#
+LINK_DEPS		+= $(LDSCRIPT)
+
+# Files to include to get automated dependencies
+#
+DEP_INCLUDES		 = $(subst .o,.d,$(OBJS))
+
+# Compile C source $1 to object $2
+# as a side-effect, generate a dependency file
+#
+define COMPILE
+	@$(ECHO) "CC:      $1"
+	@$(MKDIR) -p $(dir $2)
+	$(Q) $(CC) -MD -c $(CFLAGS) $(EXTRAFLAGS) $(abspath $1) -o $2
+endef
+
+# Compile C++ source $1 to $2
+# as a side-effect, generate a dependency file
+#
+define COMPILEXX
+	@$(ECHO) "CXX:     $1"
+	@$(MKDIR) -p $(dir $2)
+	$(Q) $(CXX) -MD -c $(CXXFLAGS) $(EXTRAFLAGS) $(abspath $1) -o $2
+endef
+
+# Assemble $1 into $2
+#
+define ASSEMBLE
+	@$(ECHO) "AS:      $1"
+	@$(MKDIR) -p $(dir $2)
+	$(Q) $(CC) -c $(AFLAGS) $(EXTRAFLAGS) $(abspath $1) -o $2
+endef
+
+# Produce partially-linked $1 from files in $2
+#
+define PRELINK
+	@$(ECHO) "PRELINK: $1"
+	@$(MKDIR) -p $(dir $1)
+	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
+endef
+
+# Update the archive $1 with the files in $2
+#
+define ARCHIVE
+	@$(ECHO) "AR:      $2"
+	@$(MKDIR) -p $(dir $1)
+	$(Q) $(AR) $1 $2
+endef
+
+# Link the objects in $2 into the binary $1
+#
+define LINK
+	@$(ECHO) "LINK:    $1"
+	@$(MKDIR) -p $(dir $1)
+	$(Q) $(LD) $(LDFLAGS) -o $1 --start-group $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC) --end-group
+endef
+
+# Convert $1 from a linked object to a raw binary in $2
+#
+define SYM_TO_BIN
+	@$(ECHO) "BIN:     $2"
+	@$(MKDIR) -p $(dir $2)
+	$(Q) $(OBJCOPY) -O binary $1 $2
+endef
+
+# Take the raw binary $1 and make it into an object file $2. 
+# The symbol $3 points to the beginning of the file, and $3_len
+# gives its length.
+#
+# - compile an empty file to generate a suitable object file
+# - relink the object and insert the binary file
+# - edit symbol names to suit
+#
+define BIN_SYM_PREFIX
+	_binary_$(subst /,_,$(subst .,_,$1))
+endef
+define BIN_TO_OBJ
+	@$(ECHO) "OBJ:     $2"
+	@$(MKDIR) -p $(dir $2)
+	$(Q) $(ECHO) > $2.c
+	$(call COMPILE,$2.c,$2.c.o)
+	$(Q) $(LD) -r -o $2 $2.c.o -b binary $1
+	$(Q) $(OBJCOPY) $2 \
+		--redefine-sym $(call BIN_SYM_PREFIX,$1)_start=$3 \
+		--redefine-sym $(call BIN_SYM_PREFIX,$1)_size=$3_len \
+		--strip-symbol $(call BIN_SYM_PREFIX,$1)_end
+endef
diff --git a/makefiles/upload.mk b/makefiles/upload.mk
new file mode 100644
index 000000000..5ef92728f
--- /dev/null
+++ b/makefiles/upload.mk
@@ -0,0 +1,44 @@
+#
+# Rules and tools for uploading firmware to various PX4 boards.
+#
+
+UPLOADER		 = $(PX4_BASE)/Tools/px_uploader.py
+
+SYSTYPE			:= $(shell uname -s)
+
+#
+# Serial port defaults.
+#
+# XXX The uploader should be smarter than this.
+#
+ifeq ($(SYSTYPE),Darwin)
+SERIAL_PORTS		?= "/dev/tty.usbmodemPX1,/dev/tty.usbmodemPX2,/dev/tty.usbmodemPX3,/dev/tty.usbmodemPX4,/dev/tty.usbmodem1,/dev/tty.usbmodem2,/dev/tty.usbmodem3,/dev/tty.usbmodem4"
+endif
+ifeq ($(SYSTYPE),Linux)
+SERIAL_PORTS		?= "/dev/ttyACM5,/dev/ttyACM4,/dev/ttyACM3,/dev/ttyACM2,/dev/ttyACM1,/dev/ttyACM0"
+endif
+ifeq ($(SERIAL_PORTS),)
+SERIAL_PORTS		 = "\\\\.\\COM32,\\\\.\\COM31,\\\\.\\COM30,\\\\.\\COM29,\\\\.\\COM28,\\\\.\\COM27,\\\\.\\COM26,\\\\.\\COM25,\\\\.\\COM24,\\\\.\\COM23,\\\\.\\COM22,\\\\.\\COM21,\\\\.\\COM20,\\\\.\\COM19,\\\\.\\COM18,\\\\.\\COM17,\\\\.\\COM16,\\\\.\\COM15,\\\\.\\COM14,\\\\.\\COM13,\\\\.\\COM12,\\\\.\\COM11,\\\\.\\COM10,\\\\.\\COM9,\\\\.\\COM8,\\\\.\\COM7,\\\\.\\COM6,\\\\.\\COM5,\\\\.\\COM4,\\\\.\\COM3,\\\\.\\COM2,\\\\.\\COM1,\\\\.\\COM0"
+endif
+
+.PHONY:	all upload-$(METHOD)-$(BOARD)
+all:	upload-$(METHOD)-$(BOARD)
+
+upload-serial-px4fmu:	$(BUNDLE) $(UPLOADER)
+	$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
+
+upload-serial-px4fmuv2:	$(BUNDLE) $(UPLOADER)
+	$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
+
+#
+# JTAG firmware uploading with OpenOCD
+#
+JTAGCONFIG		?= interface/olimex-jtag-tiny.cfg
+
+upload-jtag-px4fmu: all
+	@$(ECHO) Attempting to flash PX4FMU board via JTAG
+	$(Q) $(OPENOCD) -f $(JTAGCONFIG) -f ../Bootloader/stm32f4x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4fmu_bl.elf" -c "reset run" -c shutdown
+
+upload-jtag-px4io: all
+	@$(ECHO) Attempting to flash PX4IO board via JTAG
+	$(Q) $(OPENOCD) -f $(JTAGCONFIG) -f ../Bootloader/stm32f1x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4io_bl.elf" -c "reset run" -c shutdown
diff --git a/nuttx/arch/arm/src/stm32/stm32_otgfsdev.c b/nuttx/arch/arm/src/stm32/stm32_otgfsdev.c
index 2c9ae4cac..0fcd463e0 100644
--- a/nuttx/arch/arm/src/stm32/stm32_otgfsdev.c
+++ b/nuttx/arch/arm/src/stm32/stm32_otgfsdev.c
@@ -1512,7 +1512,6 @@ static inline void stm32_ep0out_receive(FAR struct stm32_ep_s *privep, int bcnt)
 
   DEBUGASSERT(privep && privep->ep.priv);
   priv = (FAR struct stm32_usbdev_s *)privep->ep.priv;
-  DEBUGASSERT(priv->ep0state == EP0STATE_SETUP_OUT);
 
   ullvdbg("EP0: bcnt=%d\n", bcnt);
   usbtrace(TRACE_READ(EP0), bcnt);
diff --git a/nuttx/configs/px4fmu/include/board.h b/nuttx/configs/px4fmu/include/board.h
index 8ad56a4c6..294b6c398 100755
--- a/nuttx/configs/px4fmu/include/board.h
+++ b/nuttx/configs/px4fmu/include/board.h
@@ -308,6 +308,10 @@
 #define GPIO_SPI1_MOSI	GPIO_SPI1_MOSI_1
 #define GPIO_SPI1_SCK	GPIO_SPI1_SCK_1
 
+#define GPIO_SPI2_MISO	GPIO_SPI2_MISO_2
+#define GPIO_SPI2_MOSI	GPIO_SPI2_MOSI_2
+#define GPIO_SPI2_SCK	GPIO_SPI2_SCK_2
+
 #define GPIO_SPI3_MISO	GPIO_SPI3_MISO_2
 #define GPIO_SPI3_MOSI	GPIO_SPI3_MOSI_1
 #define GPIO_SPI3_SCK	GPIO_SPI3_SCK_2
@@ -321,11 +325,14 @@
 #define PX4_SPIDEV_ACCEL	2
 #define PX4_SPIDEV_MPU		3
 
+#define PX4_SPIDEV_ACCEL_MAG 2 // external for anti vibration test
+
 /*
  * Tone alarm output
  */
 #define TONE_ALARM_TIMER	3	/* timer 3 */
 #define TONE_ALARM_CHANNEL	3	/* channel 3 */
+#define GPIO_TONE_ALARM_IDLE	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN8)
 #define GPIO_TONE_ALARM		(GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_FLOAT|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN8)
 
 /************************************************************************************
diff --git a/nuttx/configs/px4fmu/include/nsh_romfsimg.h b/nuttx/configs/px4fmu/include/nsh_romfsimg.h
new file mode 100644
index 000000000..15e4e7a8d
--- /dev/null
+++ b/nuttx/configs/px4fmu/include/nsh_romfsimg.h
@@ -0,0 +1,42 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+/**
+ * nsh_romfsetc.h
+ *
+ * This file is a stub for 'make export' purposes; the actual ROMFS
+ * must be supplied by the library client.
+ */
+
+extern unsigned char romfs_img[];
+extern unsigned int romfs_img_len;
diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig
index 9e28ff485..0e18aa8ef 100644
--- a/nuttx/configs/px4fmu/nsh/appconfig
+++ b/nuttx/configs/px4fmu/nsh/appconfig
@@ -41,97 +41,6 @@ CONFIGURED_APPS	+= examples/nsh
 CONFIGURED_APPS += nshlib
 CONFIGURED_APPS += system/readline
 
-# System library - utility functions
-CONFIGURED_APPS += systemlib
-CONFIGURED_APPS += systemlib/mixer
-
-# Math library
-ifneq ($(CONFIG_APM),y)
-CONFIGURED_APPS += mathlib
-CONFIGURED_APPS += mathlib/CMSIS
-CONFIGURED_APPS += examples/math_demo
-endif
-
-# Control library
-ifneq ($(CONFIG_APM),y)
-CONFIGURED_APPS	+= controllib
-CONFIGURED_APPS += examples/control_demo
-CONFIGURED_APPS += examples/kalman_demo
-endif
-
-# System utility commands
-CONFIGURED_APPS += systemcmds/reboot
-CONFIGURED_APPS += systemcmds/perf
-CONFIGURED_APPS += systemcmds/top
-CONFIGURED_APPS += systemcmds/boardinfo
-CONFIGURED_APPS += systemcmds/mixer
-CONFIGURED_APPS += systemcmds/eeprom
-CONFIGURED_APPS += systemcmds/param
-CONFIGURED_APPS += systemcmds/pwm
-CONFIGURED_APPS += systemcmds/bl_update
-CONFIGURED_APPS += systemcmds/preflight_check
-CONFIGURED_APPS += systemcmds/delay_test
-
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/hello_sky
-# CONFIGURED_APPS += examples/px4_simple_app
-
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/deamon
-# CONFIGURED_APPS += examples/px4_deamon_app
-
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/debug_values
-# CONFIGURED_APPS += examples/px4_mavlink_debug
-
-# Shared object broker; required by many parts of the system.
-CONFIGURED_APPS += uORB
-
-CONFIGURED_APPS += mavlink
-CONFIGURED_APPS += mavlink_onboard
-CONFIGURED_APPS += commander
-CONFIGURED_APPS += sdlog
-CONFIGURED_APPS += sensors
-
-ifneq ($(CONFIG_APM),y)
-CONFIGURED_APPS += ardrone_interface
-CONFIGURED_APPS += multirotor_att_control
-CONFIGURED_APPS += multirotor_pos_control
-CONFIGURED_APPS += position_estimator_mc
-CONFIGURED_APPS += fixedwing_att_control
-CONFIGURED_APPS += fixedwing_pos_control
-CONFIGURED_APPS += position_estimator
-CONFIGURED_APPS += attitude_estimator_ekf
-CONFIGURED_APPS += hott_telemetry
-endif
-
-# Hacking tools
-#CONFIGURED_APPS += system/i2c
-CONFIGURED_APPS += systemcmds/i2c
-
-# Communication and Drivers
-CONFIGURED_APPS += drivers/boards/px4fmu
-CONFIGURED_APPS	+= drivers/device
-CONFIGURED_APPS += drivers/ms5611
-CONFIGURED_APPS += drivers/hmc5883
-CONFIGURED_APPS += drivers/mpu6000
-CONFIGURED_APPS += drivers/bma180
-CONFIGURED_APPS += drivers/l3gd20
-CONFIGURED_APPS	+= drivers/px4io
-CONFIGURED_APPS += drivers/stm32
-CONFIGURED_APPS += drivers/led
-CONFIGURED_APPS += drivers/blinkm
-CONFIGURED_APPS += drivers/stm32/tone_alarm
-CONFIGURED_APPS += drivers/stm32/adc
-CONFIGURED_APPS += drivers/px4fmu
-CONFIGURED_APPS += drivers/hil
-CONFIGURED_APPS += drivers/gps
-CONFIGURED_APPS += drivers/mb12xx
-
-# Testing stuff
-CONFIGURED_APPS += px4/sensors_bringup
-CONFIGURED_APPS += px4/tests
-
 ifeq ($(CONFIG_CAN),y)
 #CONFIGURED_APPS += examples/can
 endif
diff --git a/nuttx/configs/px4fmu/nsh/defconfig b/nuttx/configs/px4fmu/nsh/defconfig
index 130886aac..cf30b835f 100755
--- a/nuttx/configs/px4fmu/nsh/defconfig
+++ b/nuttx/configs/px4fmu/nsh/defconfig
@@ -85,7 +85,7 @@ CONFIG_ARCH_FPU=y
 CONFIG_ARCH_INTERRUPTSTACK=n
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARCH_BOOTLOADER=n
-CONFIG_ARCH_LEDS=y
+CONFIG_ARCH_LEDS=n
 CONFIG_ARCH_BUTTONS=n
 CONFIG_ARCH_CALIBRATION=n
 CONFIG_ARCH_DMA=y
diff --git a/nuttx/configs/px4io/common/Make.defs b/nuttx/configs/px4io/common/Make.defs
index 4958f7092..7f782b5b2 100644
--- a/nuttx/configs/px4io/common/Make.defs
+++ b/nuttx/configs/px4io/common/Make.defs
@@ -112,7 +112,6 @@ ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
 
 ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
 ARCHOPTIMIZATION	+= -g
-ARCHSCRIPT		+= -g
 endif
 
 ARCHCFLAGS		 = -std=gnu99
@@ -145,7 +144,7 @@ ARCHDEFINES		 =
 ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
 
 # this seems to be the only way to add linker flags
-ARCHSCRIPT		+= --warn-common \
+EXTRA_LIBS		+= --warn-common \
 			   --gc-sections
 
 CFLAGS			 = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
diff --git a/nuttx/configs/px4io/include/board.h b/nuttx/configs/px4io/include/board.h
index d941985b4..fcbc93620 100755
--- a/nuttx/configs/px4io/include/board.h
+++ b/nuttx/configs/px4io/include/board.h
@@ -100,12 +100,19 @@
  * Some of the USART pins are not available; override the GPIO
  * definitions with an invalid pin configuration.
  */
+#undef GPIO_USART2_CTS
 #define GPIO_USART2_CTS	0xffffffff
+#undef GPIO_USART2_RTS
 #define GPIO_USART2_RTS	0xffffffff
+#undef GPIO_USART2_CK
 #define GPIO_USART2_CK 	0xffffffff
+#undef GPIO_USART3_TX
 #define GPIO_USART3_TX 	0xffffffff
+#undef GPIO_USART3_CK
 #define GPIO_USART3_CK 	0xffffffff
+#undef GPIO_USART3_CTS
 #define GPIO_USART3_CTS	0xffffffff
+#undef GPIO_USART3_RTS
 #define GPIO_USART3_RTS	0xffffffff
 
 /* 
@@ -156,6 +163,10 @@ extern "C" {
  ************************************************************************************/
 
 EXTERN void stm32_boardinitialize(void);
+    
+#if defined(__cplusplus)
+}
+#endif
 
 #endif /* __ASSEMBLY__ */
 #endif  /* __ARCH_BOARD_BOARD_H */
diff --git a/nuttx/configs/px4io/io/appconfig b/nuttx/configs/px4io/io/appconfig
index 628607a51..48a41bcdb 100644
--- a/nuttx/configs/px4io/io/appconfig
+++ b/nuttx/configs/px4io/io/appconfig
@@ -30,11 +30,3 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
-
-CONFIGURED_APPS += drivers/boards/px4io
-CONFIGURED_APPS += drivers/stm32
-
-CONFIGURED_APPS += px4io
-
-# Mixer library from systemlib
-CONFIGURED_APPS += systemlib/mixer
diff --git a/nuttx/libc/stdio/lib_libdtoa.c b/nuttx/libc/stdio/lib_libdtoa.c
index 29f61fd76..395a55b61 100644
--- a/nuttx/libc/stdio/lib_libdtoa.c
+++ b/nuttx/libc/stdio/lib_libdtoa.c
@@ -43,6 +43,7 @@
 /****************************************************************************
  * Included Files
  ****************************************************************************/
+#include <math.h>
 
 /****************************************************************************
  * Pre-processor Definitions
@@ -104,6 +105,13 @@ static void zeroes(FAR struct lib_outstream_s *obj, int nzeroes)
  * Private Functions
  ****************************************************************************/
 
+static void lib_dtoa_string(FAR struct lib_outstream_s *obj, const char *str)
+{
+	while (*str) {
+		obj->put(obj, *str++);
+	}
+}
+
 /****************************************************************************
  * Name: lib_dtoa
  *
@@ -137,9 +145,23 @@ static void lib_dtoa(FAR struct lib_outstream_s *obj, int fmt, int prec,
   int  nchars;          /* Number of characters to print */
   int  dsgn;            /* Unused sign indicator */
   int  i;
+  bool done_decimal_point = false;
+
+  /* special handling for NaN and Infinity */
+  if (isnan(value)) {
+	  lib_dtoa_string(obj, "NaN");
+	  return;
+  }
+  if (isinf(value)) {
+	  if (value < 0.0d) {
+		  obj->put(obj, '-');
+	  }
+	  lib_dtoa_string(obj, "Infinity");
+	  return;	  
+  }
 
   /* Non-zero... positive or negative */
-
+  
   if (value < 0)
     {
       value = -value;
@@ -178,6 +200,7 @@ static void lib_dtoa(FAR struct lib_outstream_s *obj, int fmt, int prec,
       if (prec > 0 || IS_ALTFORM(flags))
         {
           obj->put(obj, '.');
+	  done_decimal_point = true;
 
           /* Always print at least one digit to the right of the decimal point. */
 
@@ -203,6 +226,7 @@ static void lib_dtoa(FAR struct lib_outstream_s *obj, int fmt, int prec,
           /* Print the decimal point */
 
           obj->put(obj, '.');
+	  done_decimal_point = true;
 
           /* Print any leading zeros to the right of the decimal point */
 
@@ -249,6 +273,7 @@ static void lib_dtoa(FAR struct lib_outstream_s *obj, int fmt, int prec,
               /* Print the decimal point */
 
               obj->put(obj, '.');
+	      done_decimal_point = true;
 
               /* Always print at least one digit to the right of the decimal
                * point.
@@ -285,8 +310,9 @@ static void lib_dtoa(FAR struct lib_outstream_s *obj, int fmt, int prec,
     }
 
   /* Finally, print any trailing zeroes */
-
-  zeroes(obj, prec);
+  if (done_decimal_point) {
+      zeroes(obj, prec);
+  }
 
   /* Is this memory supposed to be freed or not? */
 
diff --git a/nuttx/libc/stdio/lib_libvsprintf.c b/nuttx/libc/stdio/lib_libvsprintf.c
index 9a391610d..2cc7950f7 100644
--- a/nuttx/libc/stdio/lib_libvsprintf.c
+++ b/nuttx/libc/stdio/lib_libvsprintf.c
@@ -1215,7 +1215,7 @@ int lib_vsprintf(FAR struct lib_outstream_s *obj, FAR const char *src, va_list a
       fmt   = FMT_RJUST;
       width = 0;
 #ifdef CONFIG_LIBC_FLOATINGPOINT
-      trunc = 0;
+      trunc = 6;
 #endif
 #endif
 
@@ -1245,6 +1245,11 @@ int lib_vsprintf(FAR struct lib_outstream_s *obj, FAR const char *src, va_list a
             {
 #ifndef CONFIG_NOPRINTF_FIELDWIDTH
               fmt = FMT_RJUST0;
+#ifdef CONFIG_LIBC_FLOATINGPOINT
+	      if (IS_HASDOT(flags)) {
+		  trunc = 0;
+	      }
+#endif
 #endif
             }
 #if 0
diff --git a/platforms/empty.c b/platforms/empty.c
new file mode 100644
index 000000000..139531354
--- /dev/null
+++ b/platforms/empty.c
@@ -0,0 +1,3 @@
+/*
+ * This is an empty C source file, used when building default firmware configurations.
+ */
diff --git a/apps/ardrone_interface/ardrone_interface.c b/src/drivers/ardrone_interface/ardrone_interface.c
index aeaf830de..aeaf830de 100644
--- a/apps/ardrone_interface/ardrone_interface.c
+++ b/src/drivers/ardrone_interface/ardrone_interface.c
diff --git a/apps/ardrone_interface/ardrone_motor_control.c b/src/drivers/ardrone_interface/ardrone_motor_control.c
index f15c74a22..f15c74a22 100644
--- a/apps/ardrone_interface/ardrone_motor_control.c
+++ b/src/drivers/ardrone_interface/ardrone_motor_control.c
diff --git a/apps/ardrone_interface/ardrone_motor_control.h b/src/drivers/ardrone_interface/ardrone_motor_control.h
index 78b603b63..78b603b63 100644
--- a/apps/ardrone_interface/ardrone_motor_control.h
+++ b/src/drivers/ardrone_interface/ardrone_motor_control.h
diff --git a/src/drivers/ardrone_interface/module.mk b/src/drivers/ardrone_interface/module.mk
new file mode 100644
index 000000000..058bd1397
--- /dev/null
+++ b/src/drivers/ardrone_interface/module.mk
@@ -0,0 +1,40 @@
+############################################################################
+#
+#   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# AR.Drone motor driver
+#
+
+MODULE_COMMAND	 = ardrone_interface
+SRCS		 = ardrone_interface.c \
+			   ardrone_motor_control.c
diff --git a/apps/drivers/blinkm/blinkm.cpp b/src/drivers/blinkm/blinkm.cpp
index 56265995f..3fabfd9a5 100644
--- a/apps/drivers/blinkm/blinkm.cpp
+++ b/src/drivers/blinkm/blinkm.cpp
@@ -92,6 +92,7 @@
 
 #include <nuttx/config.h>
 
+#include <arch/board/board.h>
 #include <drivers/device/i2c.h>
 
 #include <sys/types.h>
@@ -841,7 +842,7 @@ int
 blinkm_main(int argc, char *argv[])
 {
 
-	int i2cdevice = 3;
+	int i2cdevice = PX4_I2C_BUS_EXPANSION;
 	int blinkmadr = 9;
 
 	int x;
diff --git a/apps/drivers/led/Makefile b/src/drivers/blinkm/module.mk
index 7de188259..b48b90f3f 100644
--- a/apps/drivers/led/Makefile
+++ b/src/drivers/blinkm/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -32,7 +32,9 @@
 ############################################################################
 
 #
-# Makefile to build the LED driver.
+# BlinkM I2C LED driver
 #
 
-include $(APPDIR)/mk/app.mk
+MODULE_COMMAND	= blinkm
+
+SRCS		= blinkm.cpp
diff --git a/apps/drivers/bma180/bma180.cpp b/src/drivers/bma180/bma180.cpp
index 4409a8a9c..4409a8a9c 100644
--- a/apps/drivers/bma180/bma180.cpp
+++ b/src/drivers/bma180/bma180.cpp
diff --git a/apps/drivers/bma180/Makefile b/src/drivers/bma180/module.mk
index cc01b629e..4c60ee082 100644
--- a/apps/drivers/bma180/Makefile
+++ b/src/drivers/bma180/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -35,8 +35,6 @@
 # Makefile to build the BMA180 driver.
 #
 
-APPNAME		 = bma180
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
+MODULE_COMMAND	= bma180
 
-include $(APPDIR)/mk/app.mk
+SRCS		= bma180.cpp
diff --git a/src/drivers/boards/px4fmu/module.mk b/src/drivers/boards/px4fmu/module.mk
new file mode 100644
index 000000000..2cb261d30
--- /dev/null
+++ b/src/drivers/boards/px4fmu/module.mk
@@ -0,0 +1,9 @@
+#
+# Board-specific startup code for the PX4FMU
+#
+
+SRCS		 = px4fmu_can.c \
+		   px4fmu_init.c \
+		   px4fmu_pwm_servo.c \
+		   px4fmu_spi.c \
+		   px4fmu_usb.c
diff --git a/apps/drivers/boards/px4fmu/px4fmu_can.c b/src/drivers/boards/px4fmu/px4fmu_can.c
index 0d0b5fcd3..187689ff9 100644
--- a/apps/drivers/boards/px4fmu/px4fmu_can.c
+++ b/src/drivers/boards/px4fmu/px4fmu_can.c
@@ -37,7 +37,6 @@
  * Board-specific CAN functions.
  */
 
-
 /************************************************************************************
  * Included Files
  ************************************************************************************/
@@ -57,6 +56,8 @@
 #include "stm32_can.h"
 #include "px4fmu_internal.h"
 
+#ifdef CONFIG_CAN
+
 /************************************************************************************
  * Pre-processor Definitions
  ************************************************************************************/
@@ -139,3 +140,5 @@ int can_devinit(void)
 
 	return OK;
 }
+
+#endif
diff --git a/apps/drivers/boards/px4fmu/px4fmu_init.c b/src/drivers/boards/px4fmu/px4fmu_init.c
index 9960c6bbd..5dd70c3f9 100644
--- a/apps/drivers/boards/px4fmu/px4fmu_init.c
+++ b/src/drivers/boards/px4fmu/px4fmu_init.c
@@ -127,6 +127,7 @@ __EXPORT void stm32_boardinitialize(void)
  ****************************************************************************/
 
 static struct spi_dev_s *spi1;
+static struct spi_dev_s *spi2;
 static struct spi_dev_s *spi3;
 
 #include <math.h>
@@ -147,6 +148,11 @@ __EXPORT int nsh_archinitialize(void)
 {
 	int result;
 
+	/* configure always-on ADC pins */
+	stm32_configgpio(GPIO_ADC1_IN10);
+	stm32_configgpio(GPIO_ADC1_IN11);
+	/* IN12 and IN13 further below */
+
 	/* configure the high-resolution time/callout interface */
 	hrt_init();
 
@@ -173,7 +179,7 @@ __EXPORT int nsh_archinitialize(void)
 		       NULL);
 
 	// initial LED state
-	drv_led_start();
+//	drv_led_start();
 	up_ledoff(LED_BLUE);
 	up_ledoff(LED_AMBER);
 	up_ledon(LED_BLUE);
@@ -188,7 +194,7 @@ __EXPORT int nsh_archinitialize(void)
 		return -ENODEV;
 	}
 
-	// Default SPI1 to 1MHz and de-assert the known chip selects.
+	/* Default SPI1 to 1MHz and de-assert the known chip selects. */
 	SPI_SETFREQUENCY(spi1, 10000000);
 	SPI_SETBITS(spi1, 8);
 	SPI_SETMODE(spi1, SPIDEV_MODE3);
@@ -199,6 +205,28 @@ __EXPORT int nsh_archinitialize(void)
 
 	message("[boot] Successfully initialized SPI port 1\r\n");
 
+	/*
+	 * If SPI2 is enabled in the defconfig, we loose some ADC pins as chip selects.
+	 * Keep the SPI2 init optional and conditionally initialize the ADC pins
+	 */
+	spi2 = up_spiinitialize(2);
+
+	if (!spi2) {
+		message("[boot] Enabling IN12/13 instead of SPI2\n");
+		/* no SPI2, use pins for ADC */
+		stm32_configgpio(GPIO_ADC1_IN12);
+		stm32_configgpio(GPIO_ADC1_IN13);	// jumperable to MPU6000 DRDY on some boards
+	} else {
+		/* Default SPI2 to 1MHz and de-assert the known chip selects. */
+		SPI_SETFREQUENCY(spi2, 10000000);
+		SPI_SETBITS(spi2, 8);
+		SPI_SETMODE(spi2, SPIDEV_MODE3);
+		SPI_SELECT(spi2, PX4_SPIDEV_GYRO, false);
+		SPI_SELECT(spi2, PX4_SPIDEV_ACCEL_MAG, false);
+
+		message("[boot] Initialized SPI port2 (ADC IN12/13 blocked)\n");
+	}
+
 	/* Get the SPI port for the microSD slot */
 
 	message("[boot] Initializing SPI port 3\n");
@@ -223,10 +251,5 @@ __EXPORT int nsh_archinitialize(void)
 
 	message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n");
 
-	stm32_configgpio(GPIO_ADC1_IN10);
-	stm32_configgpio(GPIO_ADC1_IN11);
-	stm32_configgpio(GPIO_ADC1_IN12);
-	stm32_configgpio(GPIO_ADC1_IN13);	// jumperable to MPU6000 DRDY on some boards
-
 	return OK;
 }
diff --git a/apps/drivers/boards/px4fmu/px4fmu_internal.h b/src/drivers/boards/px4fmu/px4fmu_internal.h
index 6550fdf3d..671a58f8f 100644
--- a/apps/drivers/boards/px4fmu/px4fmu_internal.h
+++ b/src/drivers/boards/px4fmu/px4fmu_internal.h
@@ -58,9 +58,9 @@ __BEGIN_DECLS
  ****************************************************************************************************/
 /* Configuration ************************************************************************************/
 
-#ifdef CONFIG_STM32_SPI2
-#  error "SPI2 is not supported on this board"
-#endif
+//#ifdef CONFIG_STM32_SPI2
+//#  error "SPI2 is not supported on this board"
+//#endif
 
 #if defined(CONFIG_STM32_CAN1)
 #  warning "CAN1 is not supported on this board"
@@ -77,6 +77,7 @@ __BEGIN_DECLS
 // XXX MPU6000 DRDY?
 
 /* SPI chip selects */
+
 #define GPIO_SPI_CS_GYRO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14)
 #define GPIO_SPI_CS_ACCEL	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
 #define GPIO_SPI_CS_MPU		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
diff --git a/apps/drivers/boards/px4fmu/px4fmu_led.c b/src/drivers/boards/px4fmu/px4fmu_led.c
index fd1e159aa..fd1e159aa 100644
--- a/apps/drivers/boards/px4fmu/px4fmu_led.c
+++ b/src/drivers/boards/px4fmu/px4fmu_led.c
diff --git a/apps/drivers/boards/px4fmu/px4fmu_pwm_servo.c b/src/drivers/boards/px4fmu/px4fmu_pwm_servo.c
index cb8918306..cb8918306 100644
--- a/apps/drivers/boards/px4fmu/px4fmu_pwm_servo.c
+++ b/src/drivers/boards/px4fmu/px4fmu_pwm_servo.c
diff --git a/apps/drivers/boards/px4fmu/px4fmu_spi.c b/src/drivers/boards/px4fmu/px4fmu_spi.c
index 7a02eaeb7..b5d00eac0 100644
--- a/apps/drivers/boards/px4fmu/px4fmu_spi.c
+++ b/src/drivers/boards/px4fmu/px4fmu_spi.c
@@ -121,6 +121,24 @@ __EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devi
 	return SPI_STATUS_PRESENT;
 }
 
+__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
+{
+	/* SPI select is active low, so write !selected to select the device */
+
+	switch (devid) {
+		break;
+
+	default:
+		break;
+
+	}
+}
+
+__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
+{
+	return SPI_STATUS_PRESENT;
+}
+
 
 __EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
 {
diff --git a/apps/drivers/boards/px4fmu/px4fmu_usb.c b/src/drivers/boards/px4fmu/px4fmu_usb.c
index b0b669fbe..b0b669fbe 100644
--- a/apps/drivers/boards/px4fmu/px4fmu_usb.c
+++ b/src/drivers/boards/px4fmu/px4fmu_usb.c
diff --git a/src/drivers/boards/px4io/module.mk b/src/drivers/boards/px4io/module.mk
new file mode 100644
index 000000000..2601a1c15
--- /dev/null
+++ b/src/drivers/boards/px4io/module.mk
@@ -0,0 +1,6 @@
+#
+# Board-specific startup code for the PX4IO
+#
+
+SRCS	= px4io_init.c \
+	  px4io_pwm_servo.c
diff --git a/apps/drivers/boards/px4io/px4io_init.c b/src/drivers/boards/px4io/px4io_init.c
index 14e8dc13a..d36353c6f 100644
--- a/apps/drivers/boards/px4io/px4io_init.c
+++ b/src/drivers/boards/px4io/px4io_init.c
@@ -86,9 +86,17 @@ __EXPORT void stm32_boardinitialize(void)
 	stm32_configgpio(GPIO_SERVO_PWR_EN);
 	stm32_configgpio(GPIO_RELAY1_EN);
 	stm32_configgpio(GPIO_RELAY2_EN);
+
+    	/* turn off - all leds are active low */
+	stm32_gpiowrite(GPIO_LED1, true);
+	stm32_gpiowrite(GPIO_LED2, true);
+	stm32_gpiowrite(GPIO_LED3, true);
+
+	/* LED config */
 	stm32_configgpio(GPIO_LED1);
 	stm32_configgpio(GPIO_LED2);
 	stm32_configgpio(GPIO_LED3);
+
 	stm32_configgpio(GPIO_ACC_OC_DETECT);
 	stm32_configgpio(GPIO_SERVO_OC_DETECT);
 	stm32_configgpio(GPIO_BTN_SAFETY);
diff --git a/apps/drivers/boards/px4io/px4io_internal.h b/src/drivers/boards/px4io/px4io_internal.h
index 44bb98513..eb2820bb7 100644
--- a/apps/drivers/boards/px4io/px4io_internal.h
+++ b/src/drivers/boards/px4io/px4io_internal.h
@@ -32,7 +32,9 @@
  ****************************************************************************/
  
 /**
- * @file PX4IO hardware definitions.
+ * @file px4io_internal.h
+ * 
+ * PX4IO hardware definitions.
  */
 
 #pragma once
diff --git a/apps/drivers/boards/px4io/px4io_pwm_servo.c b/src/drivers/boards/px4io/px4io_pwm_servo.c
index a2f73c429..a2f73c429 100644
--- a/apps/drivers/boards/px4io/px4io_pwm_servo.c
+++ b/src/drivers/boards/px4io/px4io_pwm_servo.c
diff --git a/apps/drivers/device/cdev.cpp b/src/drivers/device/cdev.cpp
index 422321850..422321850 100644
--- a/apps/drivers/device/cdev.cpp
+++ b/src/drivers/device/cdev.cpp
diff --git a/apps/drivers/device/device.cpp b/src/drivers/device/device.cpp
index 04a5222c3..04a5222c3 100644
--- a/apps/drivers/device/device.cpp
+++ b/src/drivers/device/device.cpp
diff --git a/apps/drivers/device/device.h b/src/drivers/device/device.h
index 7d375aab9..7d375aab9 100644
--- a/apps/drivers/device/device.h
+++ b/src/drivers/device/device.h
diff --git a/apps/drivers/device/i2c.cpp b/src/drivers/device/i2c.cpp
index a416801eb..a416801eb 100644
--- a/apps/drivers/device/i2c.cpp
+++ b/src/drivers/device/i2c.cpp
diff --git a/apps/drivers/device/i2c.h b/src/drivers/device/i2c.h
index 66c34dd7c..7daba31be 100644
--- a/apps/drivers/device/i2c.h
+++ b/src/drivers/device/i2c.h
@@ -61,6 +61,11 @@ protected:
 	unsigned		_retries;
 
 	/**
+	 * The I2C bus number the device is attached to.
+	 */
+	int			_bus;
+
+	/**
 	 * @ Constructor
 	 *
 	 * @param name		Driver name
@@ -123,7 +128,6 @@ protected:
 	}
 
 private:
-	int			_bus;
 	uint16_t		_address;
 	uint32_t		_frequency;
 	struct i2c_dev_s	*_dev;
diff --git a/apps/drivers/hmc5883/Makefile b/src/drivers/device/module.mk
index 4d7cb4e7b..8c716d9cd 100644
--- a/apps/drivers/hmc5883/Makefile
+++ b/src/drivers/device/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -32,11 +32,11 @@
 ############################################################################
 
 #
-# HMC5883 driver
+# Build the device driver framework.
 #
 
-APPNAME		 = hmc5883
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 4096
-
-include $(APPDIR)/mk/app.mk
+SRCS		= cdev.cpp \
+		  device.cpp \
+		  i2c.cpp \
+		  pio.cpp \
+		  spi.cpp
diff --git a/apps/drivers/device/pio.cpp b/src/drivers/device/pio.cpp
index f3a805a5e..f3a805a5e 100644
--- a/apps/drivers/device/pio.cpp
+++ b/src/drivers/device/pio.cpp
diff --git a/apps/drivers/device/spi.cpp b/src/drivers/device/spi.cpp
index 8fffd60cb..8fffd60cb 100644
--- a/apps/drivers/device/spi.cpp
+++ b/src/drivers/device/spi.cpp
diff --git a/apps/drivers/device/spi.h b/src/drivers/device/spi.h
index d2d01efb3..d2d01efb3 100644
--- a/apps/drivers/device/spi.h
+++ b/src/drivers/device/spi.h
diff --git a/apps/drivers/drv_accel.h b/src/drivers/drv_accel.h
index 794de584b..794de584b 100644
--- a/apps/drivers/drv_accel.h
+++ b/src/drivers/drv_accel.h
diff --git a/apps/drivers/drv_adc.h b/src/drivers/drv_adc.h
index 8ec6d1233..8ec6d1233 100644
--- a/apps/drivers/drv_adc.h
+++ b/src/drivers/drv_adc.h
diff --git a/apps/drivers/drv_baro.h b/src/drivers/drv_baro.h
index 176f798c0..176f798c0 100644
--- a/apps/drivers/drv_baro.h
+++ b/src/drivers/drv_baro.h
diff --git a/apps/drivers/drv_blinkm.h b/src/drivers/drv_blinkm.h
index 9c278f6c5..9c278f6c5 100644
--- a/apps/drivers/drv_blinkm.h
+++ b/src/drivers/drv_blinkm.h
diff --git a/apps/drivers/drv_gpio.h b/src/drivers/drv_gpio.h
index 92d184326..92d184326 100644
--- a/apps/drivers/drv_gpio.h
+++ b/src/drivers/drv_gpio.h
diff --git a/apps/drivers/drv_gps.h b/src/drivers/drv_gps.h
index 1dda8ef0b..1dda8ef0b 100644
--- a/apps/drivers/drv_gps.h
+++ b/src/drivers/drv_gps.h
diff --git a/apps/drivers/drv_gyro.h b/src/drivers/drv_gyro.h
index 1d0fef6fc..1d0fef6fc 100644
--- a/apps/drivers/drv_gyro.h
+++ b/src/drivers/drv_gyro.h
diff --git a/apps/drivers/drv_hrt.h b/src/drivers/drv_hrt.h
index 8a99eeca7..8a99eeca7 100644
--- a/apps/drivers/drv_hrt.h
+++ b/src/drivers/drv_hrt.h
diff --git a/apps/drivers/drv_led.h b/src/drivers/drv_led.h
index 21044f620..21044f620 100644
--- a/apps/drivers/drv_led.h
+++ b/src/drivers/drv_led.h
diff --git a/apps/drivers/drv_mag.h b/src/drivers/drv_mag.h
index 9aab995a1..9aab995a1 100644
--- a/apps/drivers/drv_mag.h
+++ b/src/drivers/drv_mag.h
diff --git a/apps/drivers/drv_mixer.h b/src/drivers/drv_mixer.h
index 9f43015d9..9f43015d9 100644
--- a/apps/drivers/drv_mixer.h
+++ b/src/drivers/drv_mixer.h
diff --git a/apps/drivers/drv_orb_dev.h b/src/drivers/drv_orb_dev.h
index 8495780d5..713618545 100644
--- a/apps/drivers/drv_orb_dev.h
+++ b/src/drivers/drv_orb_dev.h
@@ -43,7 +43,7 @@
 #include <stdint.h>
 
 /* XXX for ORB_DECLARE used in many drivers */
-#include "../uORB/uORB.h"
+#include "../modules/uORB/uORB.h"
 
 /*
  * ioctl() definitions
diff --git a/apps/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h
index 07831f20c..07831f20c 100644
--- a/apps/drivers/drv_pwm_output.h
+++ b/src/drivers/drv_pwm_output.h
diff --git a/apps/drivers/drv_range_finder.h b/src/drivers/drv_range_finder.h
index 03a82ec5d..03a82ec5d 100644
--- a/apps/drivers/drv_range_finder.h
+++ b/src/drivers/drv_range_finder.h
diff --git a/apps/drivers/drv_rc_input.h b/src/drivers/drv_rc_input.h
index 4decc324e..4decc324e 100644
--- a/apps/drivers/drv_rc_input.h
+++ b/src/drivers/drv_rc_input.h
diff --git a/apps/drivers/drv_sensor.h b/src/drivers/drv_sensor.h
index 3a89cab9d..3a89cab9d 100644
--- a/apps/drivers/drv_sensor.h
+++ b/src/drivers/drv_sensor.h
diff --git a/apps/drivers/drv_tone_alarm.h b/src/drivers/drv_tone_alarm.h
index 0c6afc64c..0c6afc64c 100644
--- a/apps/drivers/drv_tone_alarm.h
+++ b/src/drivers/drv_tone_alarm.h
diff --git a/apps/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp
index e35bdb944..e35bdb944 100644
--- a/apps/drivers/gps/gps.cpp
+++ b/src/drivers/gps/gps.cpp
diff --git a/apps/drivers/gps/gps_helper.cpp b/src/drivers/gps/gps_helper.cpp
index 9c1fad569..9c1fad569 100644
--- a/apps/drivers/gps/gps_helper.cpp
+++ b/src/drivers/gps/gps_helper.cpp
diff --git a/apps/drivers/gps/gps_helper.h b/src/drivers/gps/gps_helper.h
index f3d3bc40b..f3d3bc40b 100644
--- a/apps/drivers/gps/gps_helper.h
+++ b/src/drivers/gps/gps_helper.h
diff --git a/apps/drivers/gps/Makefile b/src/drivers/gps/module.mk
index 3859a88a5..097db2abf 100644
--- a/apps/drivers/gps/Makefile
+++ b/src/drivers/gps/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -35,8 +35,9 @@
 # GPS driver
 #
 
-APPNAME		 = gps
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
+MODULE_COMMAND	= gps
 
-include $(APPDIR)/mk/app.mk
+SRCS		= gps.cpp \
+		  gps_helper.cpp \
+		  mtk.cpp \
+		  ubx.cpp
diff --git a/apps/drivers/gps/mtk.cpp b/src/drivers/gps/mtk.cpp
index 4762bd503..4762bd503 100644
--- a/apps/drivers/gps/mtk.cpp
+++ b/src/drivers/gps/mtk.cpp
diff --git a/apps/drivers/gps/mtk.h b/src/drivers/gps/mtk.h
index d4e390b01..d4e390b01 100644
--- a/apps/drivers/gps/mtk.h
+++ b/src/drivers/gps/mtk.h
diff --git a/apps/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp
index 0d4894b8d..c150f5271 100644
--- a/apps/drivers/gps/ubx.cpp
+++ b/src/drivers/gps/ubx.cpp
@@ -33,7 +33,14 @@
  *
  ****************************************************************************/
 
-/* @file U-Blox protocol implementation */
+/**
+ * @file ubx.cpp
+ *
+ * U-Blox protocol implementation. Following u-blox 6/7 Receiver Description
+ * including Prototol Specification.
+ *
+ * @see http://www.u-blox.com/images/downloads/Product_Docs/u-blox6_ReceiverDescriptionProtocolSpec_%28GPS.G6-SW-10018%29.pdf
+ */
 
 #include <unistd.h>
 #include <stdio.h>
@@ -633,16 +640,17 @@ UBX::handle_message()
 		}
 
 		case NAV_VELNED: {
-//			printf("GOT NAV_VELNED MESSAGE\n");
 
 			if (!_waiting_for_ack) {
+				/* 35.15 NAV-VELNED (0x01 0x12) message (page 181 / 210 of reference manual */
 				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->vel_n_m_s = (float)packet->velN * 1e-2f; /* NED NORTH velocity */
+				_gps_position->vel_e_m_s = (float)packet->velE * 1e-2f; /* NED EAST velocity */
+				_gps_position->vel_d_m_s = (float)packet->velD * 1e-2f; /* NED DOWN velocity */
 				_gps_position->cog_rad   = (float)packet->heading * M_DEG_TO_RAD_F * 1e-5f;
+				_gps_position->c_variance_rad = (float)packet->cAcc * M_DEG_TO_RAD_F * 1e-5f;
 				_gps_position->vel_ned_valid = true;
 				_gps_position->timestamp_velocity = hrt_absolute_time();
 			}
diff --git a/apps/drivers/gps/ubx.h b/src/drivers/gps/ubx.h
index e3dd1c7ea..e3dd1c7ea 100644
--- a/apps/drivers/gps/ubx.h
+++ b/src/drivers/gps/ubx.h
diff --git a/apps/drivers/hil/hil.cpp b/src/drivers/hil/hil.cpp
index d9aa772d4..d9aa772d4 100644
--- a/apps/drivers/hil/hil.cpp
+++ b/src/drivers/hil/hil.cpp
diff --git a/src/drivers/hil/module.mk b/src/drivers/hil/module.mk
new file mode 100644
index 000000000..f8895f5d5
--- /dev/null
+++ b/src/drivers/hil/module.mk
@@ -0,0 +1,40 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Hardware in the Loop (HIL) simulation actuator output bank
+#
+
+MODULE_COMMAND	= hil
+
+SRCS		= hil.cpp
diff --git a/apps/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp
index 8ab568282..78eda327c 100644
--- a/apps/drivers/hmc5883/hmc5883.cpp
+++ b/src/drivers/hmc5883/hmc5883.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -75,7 +75,6 @@
  * HMC5883 internal constants and data structures.
  */
 
-#define HMC5883L_BUS			PX4_I2C_BUS_ONBOARD
 #define HMC5883L_ADDRESS		PX4_I2C_OBDEV_HMC5883
 
 /* Max measurement rate is 160Hz */
@@ -842,12 +841,25 @@ HMC5883::collect()
 	 *		  74 from all measurements centers them around zero.
 	 */
 
-	/* to align the sensor axes with the board, x and y need to be flipped */
-	_reports[_next_report].x = ((report.y * _range_scale) - _scale.x_offset) * _scale.x_scale;
-	/* flip axes and negate value for y */
-	_reports[_next_report].y = ((((report.x == -32768) ? 32767 : -report.x) * _range_scale) - _scale.y_offset) * _scale.y_scale;
-	/* z remains z */
-	_reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale;
+#ifdef PX4_I2C_BUS_ONBOARD
+	if (_bus == PX4_I2C_BUS_ONBOARD) {
+		/* to align the sensor axes with the board, x and y need to be flipped */
+		_reports[_next_report].x = ((report.y * _range_scale) - _scale.x_offset) * _scale.x_scale;
+		/* flip axes and negate value for y */
+		_reports[_next_report].y = ((((report.x == -32768) ? 32767 : -report.x) * _range_scale) - _scale.y_offset) * _scale.y_scale;
+		/* z remains z */
+		_reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale;
+	} else {
+#endif
+		/* XXX axis assignment of external sensor is yet unknown */
+		_reports[_next_report].x = ((report.y * _range_scale) - _scale.x_offset) * _scale.x_scale;
+		/* flip axes and negate value for y */
+		_reports[_next_report].y = ((((report.x == -32768) ? 32767 : -report.x) * _range_scale) - _scale.y_offset) * _scale.y_scale;
+		/* z remains z */
+		_reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale;
+#ifdef PX4_I2C_BUS_ONBOARD
+	}
+#endif
 
 	/* publish it */
 	orb_publish(ORB_ID(sensor_mag), _mag_topic, &_reports[_next_report]);
@@ -1211,15 +1223,27 @@ start()
 	if (g_dev != nullptr)
 		errx(1, "already started");
 
-	/* create the driver */
-	g_dev = new HMC5883(HMC5883L_BUS);
+	/* create the driver, attempt expansion bus first */
+	g_dev = new HMC5883(PX4_I2C_BUS_EXPANSION);
+	if (g_dev != nullptr && OK != g_dev->init()) {
+		delete g_dev;
+		g_dev = nullptr;
+	}
+			
+
+#ifdef PX4_I2C_BUS_ONBOARD
+	/* if this failed, attempt onboard sensor */
+	if (g_dev == nullptr) {
+		g_dev = new HMC5883(PX4_I2C_BUS_ONBOARD);
+		if (g_dev != nullptr && OK != g_dev->init()) {
+			goto fail;
+		}
+	}
+#endif
 
 	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(MAG_DEVICE_PATH, O_RDONLY);
 
diff --git a/src/drivers/hmc5883/module.mk b/src/drivers/hmc5883/module.mk
new file mode 100644
index 000000000..07377556d
--- /dev/null
+++ b/src/drivers/hmc5883/module.mk
@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# HMC5883 driver
+#
+
+MODULE_COMMAND	= hmc5883
+
+# XXX seems excessive, check if 2048 is sufficient
+MODULE_STACKSIZE	= 4096
+
+SRCS		= hmc5883.cpp
diff --git a/apps/hott_telemetry/hott_telemetry_main.c b/src/drivers/hott_telemetry/hott_telemetry_main.c
index 31c9247aa..a13a6ef58 100644
--- a/apps/hott_telemetry/hott_telemetry_main.c
+++ b/src/drivers/hott_telemetry/hott_telemetry_main.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Simon Wilks <sjwilks@gmail.com>
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Author: Simon Wilks <sjwilks@gmail.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -34,6 +34,7 @@
 
 /**
  * @file hott_telemetry_main.c
+ * @author Simon Wilks <sjwilks@gmail.com>
  *
  * Graupner HoTT Telemetry implementation.
  *
@@ -41,7 +42,6 @@
  * a data packet can be returned if necessary.
  *
  * TODO: Add support for at least the vario and GPS sensor data.
- *
  */
 
 #include <fcntl.h>
@@ -57,12 +57,6 @@
 
 #include "messages.h"
 
-/* The following are equired for UART direct manipulation. */
-#include <arch/board/board.h>
-#include "up_arch.h"
-#include "chip.h"
-#include "stm32_internal.h"
-
 static int thread_should_exit = false;		/**< Deamon exit flag */
 static int thread_running = false;		/**< Deamon status flag */
 static int deamon_task;				/**< Handle of deamon task / thread */
diff --git a/apps/hott_telemetry/messages.c b/src/drivers/hott_telemetry/messages.c
index 8bfb99773..5fbee16ce 100644
--- a/apps/hott_telemetry/messages.c
+++ b/src/drivers/hott_telemetry/messages.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Simon Wilks <sjwilks@gmail.com>
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Author: Simon Wilks <sjwilks@gmail.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -34,7 +34,7 @@
 
 /**
  * @file messages.c
- *
+ * @author Simon Wilks <sjwilks@gmail.com>
  */
 
 #include "messages.h"
diff --git a/apps/hott_telemetry/messages.h b/src/drivers/hott_telemetry/messages.h
index 44001e04f..dd38075fa 100644
--- a/apps/hott_telemetry/messages.h
+++ b/src/drivers/hott_telemetry/messages.h
@@ -1,7 +1,7 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Simon Wilks <sjwilks@gmail.com>
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Author: Simon Wilks <sjwilks@gmail.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -34,6 +34,7 @@
 
 /**
  * @file messages.h
+ * @author Simon Wilks <sjwilks@gmail.com>
  *
  * Graupner HoTT Telemetry message generation.
  *
diff --git a/apps/drivers/blinkm/Makefile b/src/drivers/hott_telemetry/module.mk
index 5a623693d..def1d59e9 100644
--- a/apps/drivers/blinkm/Makefile
+++ b/src/drivers/hott_telemetry/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -32,11 +32,10 @@
 ############################################################################
 
 #
-# BlinkM I2C LED driver
+# Graupner HoTT Telemetry application.
 #
 
-APPNAME		 = blinkm
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
+MODULE_COMMAND	= hott_telemetry
 
-include $(APPDIR)/mk/app.mk
+SRCS		= hott_telemetry_main.c \
+		  messages.c
diff --git a/apps/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp
index c7f433dd4..98098c83b 100644
--- a/apps/drivers/l3gd20/l3gd20.cpp
+++ b/src/drivers/l3gd20/l3gd20.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -32,7 +32,8 @@
  ****************************************************************************/
 
 /**
- * @file Driver for the ST L3GD20 MEMS gyro connected via SPI.
+ * @file l3gd20.cpp
+ * Driver for the ST L3GD20 MEMS gyro connected via SPI.
  */
 
 #include <nuttx/config.h>
diff --git a/src/drivers/l3gd20/module.mk b/src/drivers/l3gd20/module.mk
new file mode 100644
index 000000000..23e77e871
--- /dev/null
+++ b/src/drivers/l3gd20/module.mk
@@ -0,0 +1,6 @@
+#
+# LSM303D accel/mag driver
+#
+
+MODULE_COMMAND	 = l3gd20
+SRCS		 = l3gd20.cpp
diff --git a/apps/drivers/led/led.cpp b/src/drivers/led/led.cpp
index c7c45525e..c7c45525e 100644
--- a/apps/drivers/led/led.cpp
+++ b/src/drivers/led/led.cpp
diff --git a/apps/systemlib/mixer/Makefile b/src/drivers/led/module.mk
index f8b02f194..777f3e442 100644
--- a/apps/systemlib/mixer/Makefile
+++ b/src/drivers/led/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -32,8 +32,7 @@
 ############################################################################
 
 #
-# mixer library
+# Build the LED driver.
 #
-LIBNAME	= mixerlib
 
-include $(APPDIR)/mk/app.mk
+SRCS		= led.cpp
diff --git a/apps/drivers/mb12xx/mb12xx.cpp b/src/drivers/mb12xx/mb12xx.cpp
index 9d0f6bddc..397686e8b 100644
--- a/apps/drivers/mb12xx/mb12xx.cpp
+++ b/src/drivers/mb12xx/mb12xx.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   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
diff --git a/apps/drivers/mb12xx/Makefile b/src/drivers/mb12xx/module.mk
index 0d2405787..4e00ada02 100644
--- a/apps/drivers/mb12xx/Makefile
+++ b/src/drivers/mb12xx/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+#   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
@@ -35,8 +35,6 @@
 # Makefile to build the Maxbotix Sonar driver.
 #
 
-APPNAME		= mb12xx
-PRIORITY	= SCHED_PRIORITY_DEFAULT
-STACKSIZE	= 2048
+MODULE_COMMAND	= mb12xx
 
-include $(APPDIR)/mk/app.mk
+SRCS		= mb12xx.cpp
diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp
new file mode 100644
index 000000000..3a735e26f
--- /dev/null
+++ b/src/drivers/mkblctrl/mkblctrl.cpp
@@ -0,0 +1,1442 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012,2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mkblctrl.cpp
+ *
+ * Driver/configurator for the Mikrokopter BL-Ctrl.
+ * Marco Bauer
+ *
+ */
+
+#include <nuttx/config.h>
+
+#include <drivers/device/i2c.h>
+
+#include <sys/types.h>
+#include <stdint.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 <nuttx/arch.h>
+#include <nuttx/i2c.h>
+
+#include <drivers/device/device.h>
+#include <drivers/drv_pwm_output.h>
+#include <drivers/drv_gpio.h>
+#include <drivers/boards/px4fmu/px4fmu_internal.h>
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_rc_input.h>
+
+#include <systemlib/systemlib.h>
+#include <systemlib/err.h>
+#include <systemlib/mixer/mixer.h>
+#include <drivers/drv_mixer.h>
+
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/actuator_controls_effective.h>
+#include <uORB/topics/actuator_outputs.h>
+
+#include <systemlib/err.h>
+#include <systemlib/ppm_decode.h>
+
+#define I2C_BUS_SPEED					400000
+#define UPDATE_RATE						400
+#define MAX_MOTORS 						8
+#define BLCTRL_BASE_ADDR 				0x29
+#define BLCTRL_OLD 						0
+#define BLCTRL_NEW 						1
+#define BLCTRL_MIN_VALUE				-0.920F
+#define MOTOR_STATE_PRESENT_MASK		0x80
+#define MOTOR_STATE_ERROR_MASK		0x7F
+#define MOTOR_SPINUP_COUNTER			2500
+
+
+class MK : public device::I2C
+{
+public:
+	enum Mode {
+		MODE_2PWM,
+		MODE_4PWM,
+		MODE_NONE
+	};
+
+	enum MappingMode {
+		MAPPING_MK = 0,
+		MAPPING_PX4,
+	};
+
+	enum FrameType {
+		FRAME_PLUS = 0,
+		FRAME_X,
+	};
+
+	MK(int bus);
+	~MK();
+
+	virtual int	ioctl(file *filp, int cmd, unsigned long arg);
+	virtual int	init(unsigned motors);
+
+	int		set_mode(Mode mode);
+	int		set_pwm_rate(unsigned rate);
+	int		set_motor_count(unsigned count);
+	int		set_motor_test(bool motortest);
+	int		set_px4mode(int px4mode);
+	int		set_frametype(int frametype);
+	unsigned int		mk_check_for_blctrl(unsigned int count, bool showOutput);
+
+private:
+	static const unsigned _max_actuators = MAX_MOTORS;
+	static const bool	showDebug = false;
+
+	Mode		_mode;
+	int 		_update_rate;
+	int 		_current_update_rate;
+	int		_task;
+	int		_t_actuators;
+	int		_t_armed;
+	unsigned int		_motor;
+	int    _px4mode;
+	int    _frametype;
+	orb_advert_t	_t_outputs;
+	orb_advert_t	_t_actuators_effective;
+	unsigned int	_num_outputs;
+	bool		_primary_pwm_device;
+	bool     _motortest;
+
+	volatile bool	_task_should_exit;
+	bool		_armed;
+
+	unsigned long	debugCounter;
+
+	MixerGroup	*_mixers;
+
+	actuator_controls_s _controls;
+
+	static void	task_main_trampoline(int argc, char *argv[]);
+	void		task_main() __attribute__((noreturn));
+
+	static int	control_callback(uintptr_t handle,
+					 uint8_t control_group,
+					 uint8_t control_index,
+					 float &input);
+
+	int		pwm_ioctl(file *filp, int cmd, unsigned long arg);
+
+	struct GPIOConfig {
+		uint32_t	input;
+		uint32_t	output;
+		uint32_t	alt;
+	};
+
+	static const GPIOConfig	_gpio_tab[];
+	static const unsigned	_ngpio;
+
+	void		gpio_reset(void);
+	void		gpio_set_function(uint32_t gpios, int function);
+	void		gpio_write(uint32_t gpios, int function);
+	uint32_t	gpio_read(void);
+	int		gpio_ioctl(file *filp, int cmd, unsigned long arg);
+	int			mk_servo_arm(bool status);
+
+	int 		mk_servo_set(unsigned int chan, float val);
+	int 		mk_servo_set_test(unsigned int chan, float val);
+	int 		mk_servo_test(unsigned int chan);
+
+
+};
+
+const MK::GPIOConfig MK::_gpio_tab[] = {
+	{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0},
+	{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0},
+	{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, GPIO_USART2_CTS_1},
+	{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, GPIO_USART2_RTS_1},
+	{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, GPIO_USART2_TX_1},
+	{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, GPIO_USART2_RX_1},
+	{GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, GPIO_CAN2_TX_2},
+	{GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, GPIO_CAN2_RX_2},
+};
+
+const unsigned MK::_ngpio = sizeof(MK::_gpio_tab) / sizeof(MK::_gpio_tab[0]);
+
+const int blctrlAddr_quad_plus[] = { 2, 2, -2, -2, 0, 0, 0, 0 };	// Addresstranslator for Quad + configuration
+const int blctrlAddr_hexa_plus[] = { 0, 2, 2, -2, 1, -3, 0, 0 };	// Addresstranslator for Hexa + configuration
+const int blctrlAddr_octo_plus[] = { 0, 3, -1, 0, 3, 0, 0, -5 };	// Addresstranslator for Octo + configuration
+
+const int blctrlAddr_quad_x[] = { 2, 2, -2, -2, 0, 0, 0, 0 };	// Addresstranslator for Quad X configuration
+const int blctrlAddr_hexa_x[] = { 2, 4, -2, 0, -3, -1, 0, 0 };	// Addresstranslator for Hexa X configuration
+const int blctrlAddr_octo_x[] = { 1, 4, 0, 1, -4, 1, 1, -4 };	// Addresstranslator for Octo X configuration
+
+const int blctrlAddr_px4[]  = { 0, 0, 0, 0, 0, 0, 0, 0};
+
+int addrTranslator[] = {0,0,0,0,0,0,0,0};
+
+struct MotorData_t
+{
+	unsigned int Version;                        // the version of the BL (0 = old)
+  unsigned int SetPoint;                       // written by attitude controller
+  unsigned int SetPointLowerBits;      // for higher Resolution of new BLs
+  unsigned int State;                          // 7 bit for I2C error counter, highest bit indicates if motor is present
+  unsigned int ReadMode;                       // select data to read
+  // the following bytes must be exactly in that order!
+  unsigned int Current;                        // in 0.1 A steps, read back from BL
+  unsigned int MaxPWM;                         // read back from BL is less than 255 if BL is in current limit
+  unsigned int Temperature;            // old BL-Ctrl will return a 255 here, the new version the temp. in
+  unsigned int RoundCount;
+};
+
+MotorData_t Motor[MAX_MOTORS];
+
+
+namespace
+{
+
+MK	*g_mk;
+
+} // namespace
+
+MK::MK(int bus) :
+	I2C("mkblctrl", "/dev/mkblctrl", bus, 0, I2C_BUS_SPEED),
+	_mode(MODE_NONE),
+	_update_rate(50),
+	_task(-1),
+	_t_actuators(-1),
+	_t_armed(-1),
+	_t_outputs(0),
+	_t_actuators_effective(0),
+	_num_outputs(0),
+	_motortest(false),
+	_motor(-1),
+	_px4mode(MAPPING_MK),
+	_frametype(FRAME_PLUS),
+	_primary_pwm_device(false),
+	_task_should_exit(false),
+	_armed(false),
+	_mixers(nullptr)
+{
+	_debug_enabled = true;
+}
+
+MK::~MK()
+{
+	if (_task != -1) {
+		/* tell the task we want it to go away */
+		_task_should_exit = true;
+
+		unsigned i = 10;
+
+		do {
+			/* wait 50ms - it should wake every 100ms or so worst-case */
+			usleep(50000);
+
+			/* if we have given up, kill it */
+			if (--i == 0) {
+				task_delete(_task);
+				break;
+			}
+
+		} while (_task != -1);
+	}
+
+	/* clean up the alternate device node */
+	if (_primary_pwm_device)
+		unregister_driver(PWM_OUTPUT_DEVICE_PATH);
+
+	g_mk = nullptr;
+}
+
+int
+MK::init(unsigned motors)
+{
+	_num_outputs = motors;
+	debugCounter = 0;
+	int ret;
+	ASSERT(_task == -1);
+
+	ret = I2C::init();
+
+	if (ret != OK) {
+		warnx("I2C init failed");
+		return ret;
+	}
+
+	usleep(500000);
+
+	/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
+	ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this);
+
+	if (ret == OK) {
+		log("default PWM output device");
+		_primary_pwm_device = true;
+	}
+
+	/* reset GPIOs */
+	gpio_reset();
+
+	/* start the IO interface task */
+	_task = task_spawn("mkblctrl",
+			   SCHED_DEFAULT,
+			   SCHED_PRIORITY_MAX -20,
+			   2048,
+			   (main_t)&MK::task_main_trampoline,
+			   nullptr);
+
+
+	if (_task < 0) {
+		debug("task start failed: %d", errno);
+		return -errno;
+	}
+
+	return OK;
+}
+
+void
+MK::task_main_trampoline(int argc, char *argv[])
+{
+	g_mk->task_main();
+}
+
+int
+MK::set_mode(Mode mode)
+{
+	/*
+	 * Configure for PWM output.
+	 *
+	 * Note that regardless of the configured mode, the task is always
+	 * listening and mixing; the mode just selects which of the channels
+	 * are presented on the output pins.
+	 */
+	switch (mode) {
+	case MODE_2PWM:
+		if(_num_outputs == 4) {
+			//debug("MODE_QUAD");
+		} else if(_num_outputs == 6) {
+			//debug("MODE_HEXA");
+		} else if(_num_outputs == 8) {
+			//debug("MODE_OCTO");
+		}
+		//up_pwm_servo_init(0x3);
+		up_pwm_servo_deinit();
+		_update_rate = UPDATE_RATE;	/* default output rate */
+		break;
+
+	case MODE_4PWM:
+		if(_num_outputs == 4) {
+			//debug("MODE_QUADRO");
+		} else if(_num_outputs == 6) {
+			//debug("MODE_HEXA");
+		} else if(_num_outputs == 8) {
+			//debug("MODE_OCTO");
+		}
+		//up_pwm_servo_init(0xf);
+		up_pwm_servo_deinit();
+		_update_rate = UPDATE_RATE;	/* default output rate */
+		break;
+
+	case MODE_NONE:
+		debug("MODE_NONE");
+		/* disable servo outputs and set a very low update rate */
+		up_pwm_servo_deinit();
+		_update_rate = UPDATE_RATE;
+		break;
+
+	default:
+		return -EINVAL;
+	}
+
+	_mode = mode;
+	return OK;
+}
+
+int
+MK::set_pwm_rate(unsigned rate)
+{
+	if ((rate > 500) || (rate < 10))
+		return -EINVAL;
+
+	_update_rate = rate;
+	return OK;
+}
+
+int
+MK::set_px4mode(int px4mode)
+{
+	_px4mode = px4mode;
+}
+
+int
+MK::set_frametype(int frametype)
+{
+	_frametype = frametype;
+}
+
+
+int
+MK::set_motor_count(unsigned count)
+{
+	if(count > 0) {
+
+		_num_outputs = count;
+
+		if(_px4mode == MAPPING_MK) {
+			if(_frametype == FRAME_PLUS) {
+				fprintf(stderr, "[mkblctrl] addresstanslator for Mikrokopter addressing used. Frametype: +\n");
+			} else if(_frametype == FRAME_X) {
+				fprintf(stderr, "[mkblctrl] addresstanslator for Mikrokopter addressing used. Frametype: X\n");
+			}
+			if(_num_outputs == 4) {
+				if(_frametype == FRAME_PLUS) {
+					memcpy(&addrTranslator, &blctrlAddr_quad_plus, sizeof(blctrlAddr_quad_plus));
+				} else if(_frametype == FRAME_X) {
+					memcpy(&addrTranslator, &blctrlAddr_quad_x, sizeof(blctrlAddr_quad_x));
+				}
+			} else if(_num_outputs == 6) {
+				if(_frametype == FRAME_PLUS) {
+					memcpy(&addrTranslator, &blctrlAddr_hexa_plus, sizeof(blctrlAddr_hexa_plus));
+				} else if(_frametype == FRAME_X) {
+					memcpy(&addrTranslator, &blctrlAddr_hexa_x, sizeof(blctrlAddr_hexa_x));
+				}
+			} else if(_num_outputs == 8) {
+				if(_frametype == FRAME_PLUS) {
+					memcpy(&addrTranslator, &blctrlAddr_octo_plus, sizeof(blctrlAddr_octo_plus));
+				} else if(_frametype == FRAME_X) {
+					memcpy(&addrTranslator, &blctrlAddr_octo_x, sizeof(blctrlAddr_octo_x));
+				}
+			}
+		} else {
+			fprintf(stderr, "[mkblctrl] PX4 native addressing used.\n");
+			memcpy(&addrTranslator, &blctrlAddr_px4, sizeof(blctrlAddr_px4));
+		}
+
+		if(_num_outputs == 4) {
+			fprintf(stderr, "[mkblctrl] Quadrocopter Mode (4)\n");
+		} else 	if(_num_outputs == 6) {
+			fprintf(stderr, "[mkblctrl] Hexacopter Mode (6)\n");
+		} else 	if(_num_outputs == 8) {
+			fprintf(stderr, "[mkblctrl] Octocopter Mode (8)\n");
+		}
+
+		return OK;
+
+	} else {
+		return -1;
+	}
+
+}
+
+int
+MK::set_motor_test(bool motortest)
+{
+	_motortest = motortest;
+	return OK;
+}
+
+
+void
+MK::task_main()
+{
+	/*
+	 * Subscribe to the appropriate PWM output topic based on whether we are the
+	 * primary PWM output or not.
+	 */
+	_t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
+				     ORB_ID(actuator_controls_1));
+	/* force a reset of the update rate */
+	_current_update_rate = 0;
+
+	_t_armed = orb_subscribe(ORB_ID(actuator_armed));
+	orb_set_interval(_t_armed, 200);		/* 5Hz update rate */
+
+	/* advertise the mixed control outputs */
+	actuator_outputs_s outputs;
+	memset(&outputs, 0, sizeof(outputs));
+	/* advertise the mixed control outputs */
+	_t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1),
+				   &outputs);
+
+	/* advertise the effective control inputs */
+	actuator_controls_effective_s controls_effective;
+	memset(&controls_effective, 0, sizeof(controls_effective));
+	/* advertise the effective control inputs */
+	_t_actuators_effective = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1),
+				   &controls_effective);
+
+	pollfd fds[2];
+	fds[0].fd = _t_actuators;
+	fds[0].events = POLLIN;
+	fds[1].fd = _t_armed;
+	fds[1].events = POLLIN;
+
+	// rc input, published to ORB
+	struct rc_input_values rc_in;
+	orb_advert_t to_input_rc = 0;
+
+	memset(&rc_in, 0, sizeof(rc_in));
+	rc_in.input_source = RC_INPUT_SOURCE_PX4FMU_PPM;
+	
+	log("starting");
+	long update_rate_in_us = 0;
+
+	/* loop until killed */
+	while (!_task_should_exit) {
+
+		/* handle update rate changes */
+		if (_current_update_rate != _update_rate) {
+			int update_rate_in_ms = int(1000 / _update_rate);
+			update_rate_in_us = long(1000000 / _update_rate);
+
+			/* reject faster than 500 Hz updates */
+			if (update_rate_in_ms < 2) {
+				update_rate_in_ms = 2;
+				_update_rate = 500;
+			}
+			/* reject slower than 50 Hz updates */
+			if (update_rate_in_ms > 20) {
+				update_rate_in_ms = 20;
+				_update_rate = 50;
+			}
+
+			orb_set_interval(_t_actuators, update_rate_in_ms);
+			up_pwm_servo_set_rate(_update_rate);
+			_current_update_rate = _update_rate;
+		}
+
+		/* sleep waiting for data, but no more than a second */
+		int ret = ::poll(&fds[0], 2, 1000);
+
+		/* this would be bad... */
+		if (ret < 0) {
+			log("poll error %d", errno);
+			usleep(1000000);
+			continue;
+		}
+
+		/* do we have a control update? */
+		if (fds[0].revents & POLLIN) {
+
+			/* get controls - must always do this to avoid spinning */
+			orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : ORB_ID(actuator_controls_1), _t_actuators, &_controls);
+
+			/* can we mix? */
+			if (_mixers != nullptr) {
+
+				/* do mixing */
+				outputs.noutputs = _mixers->mix(&outputs.output[0], _num_outputs);
+				outputs.timestamp = hrt_absolute_time();
+
+				// XXX output actual limited values
+				memcpy(&controls_effective, &_controls, sizeof(controls_effective));
+
+				orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1), _t_actuators_effective, &controls_effective);
+
+				/* iterate actuators */
+				for (unsigned int i = 0; i < _num_outputs; i++) {
+
+					/* last resort: catch NaN, INF and out-of-band errors */
+					if (i < outputs.noutputs &&
+						isfinite(outputs.output[i]) &&
+						outputs.output[i] >= -1.0f &&
+						outputs.output[i] <= 1.0f) {
+						/* scale for PWM output 900 - 2100us */
+						//outputs.output[i] = 1500 + (600 * outputs.output[i]);
+						//outputs.output[i] = 127 + (127 * outputs.output[i]);
+					} else {
+						/*
+						 * 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
+						 * spinning motors. It would be deadly in flight.
+						 */
+						if(outputs.output[i] < -1.0f) {
+							outputs.output[i] = -1.0f;
+						} else if(outputs.output[i] > 1.0f) {
+							outputs.output[i] = 1.0f;
+						} else {
+							outputs.output[i] = -1.0f;
+						}
+					}
+
+					/* don't go under BLCTRL_MIN_VALUE */
+					if(outputs.output[i] < BLCTRL_MIN_VALUE) {
+						outputs.output[i] = BLCTRL_MIN_VALUE;
+					}
+					//_motortest = true;
+					/* output to BLCtrl's */
+					if(_motortest == true) {
+						mk_servo_test(i);
+					} else {
+						//mk_servo_set(i, outputs.output[i]);
+						mk_servo_set_test(i, outputs.output[i]);	// 8Bit
+					}
+
+
+				}
+
+				/* and publish for anyone that cares to see */
+				orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), _t_outputs, &outputs);
+			}
+		}
+
+		/* how about an arming update? */
+		if (fds[1].revents & POLLIN) {
+			actuator_armed_s aa;
+
+			/* get new value */
+			orb_copy(ORB_ID(actuator_armed), _t_armed, &aa);
+
+			/* update PWM servo armed status if armed and not locked down */
+			////up_pwm_servo_arm(aa.armed && !aa.lockdown);
+			mk_servo_arm(aa.armed && !aa.lockdown);
+		}
+
+		// see if we have new PPM input data
+		if (ppm_last_valid_decode != rc_in.timestamp) {
+			// we have a new PPM frame. Publish it.
+			rc_in.channel_count = ppm_decoded_channels;
+			if (rc_in.channel_count > RC_INPUT_MAX_CHANNELS) {
+				rc_in.channel_count = RC_INPUT_MAX_CHANNELS;
+			}
+			for (uint8_t i=0; i<rc_in.channel_count; i++) {
+				rc_in.values[i] = ppm_buffer[i];
+			}
+			rc_in.timestamp = ppm_last_valid_decode;
+
+			/* lazily advertise on first publication */
+			if (to_input_rc == 0) {
+				to_input_rc = orb_advertise(ORB_ID(input_rc), &rc_in);
+			} else {
+				orb_publish(ORB_ID(input_rc), to_input_rc, &rc_in);
+			}
+		}
+
+	}
+
+	::close(_t_actuators);
+	::close(_t_actuators_effective);
+	::close(_t_armed);
+
+
+	/* make sure servos are off */
+	up_pwm_servo_deinit();
+
+	log("stopping");
+
+	/* note - someone else is responsible for restoring the GPIO config */
+
+	/* tell the dtor that we are exiting */
+	_task = -1;
+	_exit(0);
+}
+
+
+int 
+MK::mk_servo_arm(bool status)
+{
+	_armed = status;
+	return 0;
+}
+
+
+unsigned int
+MK::mk_check_for_blctrl(unsigned int count, bool showOutput)
+{
+	_retries = 50;
+	uint8_t foundMotorCount = 0;
+
+	for(unsigned i=0; i<MAX_MOTORS; i++) {
+		Motor[i].Version = 0;
+		Motor[i].SetPoint = 0;
+		Motor[i].SetPointLowerBits = 0;
+		Motor[i].State = 0;
+		Motor[i].ReadMode = 0;
+		Motor[i].Current = 0;
+		Motor[i].MaxPWM = 0;
+		Motor[i].Temperature = 0;
+		Motor[i].RoundCount = 0;
+	}
+
+	uint8_t msg = 0;
+	uint8_t result[3];
+
+	for(unsigned i=0; i< count; i++) {
+		result[0] = 0;
+		result[1] = 0;
+		result[2] = 0;
+			
+		set_address( BLCTRL_BASE_ADDR + i );
+		
+		if (OK == transfer(&msg, 1, &result[0], 3)) {
+			Motor[i].Current = result[0];
+			Motor[i].MaxPWM = result[1];
+			Motor[i].Temperature = result[2];
+			Motor[i].State |= MOTOR_STATE_PRESENT_MASK; // set present bit;
+			foundMotorCount++;
+			if(Motor[i].MaxPWM == 250) {
+				Motor[i].Version = BLCTRL_NEW;
+			} else {
+				Motor[i].Version = BLCTRL_OLD;
+			}
+		}
+	}
+
+	if(showOutput) {
+		fprintf(stderr, "[mkblctrl] MotorsFound: %i\n",foundMotorCount);
+		for(unsigned i=0; i< foundMotorCount; i++) {
+			fprintf(stderr, "[mkblctrl] blctrl[%i] : found=%i\tversion=%i\tcurrent=%i\tmaxpwm=%i\ttemperature=%i\n", i,Motor[i].State, Motor[i].Version, Motor[i].Current, Motor[i].MaxPWM, Motor[i].Temperature);
+		}
+
+		if(foundMotorCount != 4 && foundMotorCount != 6 && foundMotorCount != 8) {
+			_task_should_exit = true;
+		}
+	}
+
+	return foundMotorCount;
+}
+
+
+
+
+int
+MK::mk_servo_set(unsigned int chan, float val)
+{
+	float tmpVal = 0;
+	_retries = 0;
+	uint8_t result[3] = { 0,0,0 };
+	uint8_t msg[2] = { 0,0 };
+	uint8_t rod=0;
+	uint8_t bytesToSendBL2 = 2;
+
+
+	tmpVal = (1023 + (1023 * val));
+	if(tmpVal > 2047) {
+		tmpVal = 2047;
+	}
+
+
+	Motor[chan].SetPoint = (uint8_t) tmpVal / 3;	// divide 8
+	Motor[chan].SetPointLowerBits = (uint8_t) tmpVal % 8;	// rest of divide 8
+	//rod = (uint8_t) tmpVal % 8;
+	//Motor[chan].SetPointLowerBits = rod<<1;	// rest of divide 8
+	Motor[chan].SetPointLowerBits = 0;
+
+	if(_armed == false) {
+		Motor[chan].SetPoint = 0;
+		Motor[chan].SetPointLowerBits = 0;
+	}
+
+	//if(Motor[chan].State & MOTOR_STATE_PRESENT_MASK) {
+		set_address(BLCTRL_BASE_ADDR + (chan + addrTranslator[chan]));
+
+		if(Motor[chan].Version == BLCTRL_OLD) {
+			/*
+			*	Old BL-Ctrl 8Bit served. Version < 2.0
+			*/
+			msg[0] = Motor[chan].SetPoint;
+			if(Motor[chan].RoundCount >= 16) {
+				// on each 16th cyle we read out the status messages from the blctrl
+				if (OK == transfer(&msg[0], 1, &result[0], 2)) {
+					Motor[chan].Current = result[0];
+					Motor[chan].MaxPWM = result[1];
+					Motor[chan].Temperature = 255;;
+				} else {
+					if((Motor[chan].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[chan].State++;	// error
+				}
+				Motor[chan].RoundCount = 0;
+			} else {
+				if (OK != transfer(&msg[0], 1, nullptr, 0)) {
+					if((Motor[chan].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[chan].State++;	// error
+				}
+			}
+
+		} else {
+			/*
+			*	New BL-Ctrl 11Bit served. Version >= 2.0
+			*/
+			msg[0] = Motor[chan].SetPoint;
+			msg[1] = Motor[chan].SetPointLowerBits;
+
+			if(Motor[chan].SetPointLowerBits == 0) {
+				bytesToSendBL2 = 1;	// if setpoint lower bits are zero, we send only the higher bits - this saves time
+			}
+
+			if(Motor[chan].RoundCount >= 16) {
+				// on each 16th cyle we read out the status messages from the blctrl
+				if (OK == transfer(&msg[0], bytesToSendBL2, &result[0], 3)) {
+					Motor[chan].Current = result[0];
+					Motor[chan].MaxPWM = result[1];
+					Motor[chan].Temperature = result[2];
+				} else {
+					if((Motor[chan].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[chan].State++;	// error
+				}
+				Motor[chan].RoundCount = 0;
+			} else {
+				if (OK != transfer(&msg[0], bytesToSendBL2, nullptr, 0)) {
+					if((Motor[chan].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[chan].State++;	// error
+				}
+			}
+
+		}
+
+		Motor[chan].RoundCount++;
+	//}
+
+	if(showDebug == true) {
+		debugCounter++;
+		if(debugCounter == 2000) {
+			debugCounter = 0;
+			for(int i=0; i<_num_outputs; i++){
+				if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) {
+					fprintf(stderr, "[mkblctrl] #%i:\tVer: %i\tVal: %i\tCurr: %i\tMaxPWM: %i\tTemp: %i\tState: %i\n", i, Motor[i].Version, Motor[i].SetPoint, Motor[i].Current, Motor[i].MaxPWM, Motor[i].Temperature, Motor[i].State);
+				}
+			}
+			fprintf(stderr, "\n");
+		}
+	}
+	return 0;
+}
+
+int
+MK::mk_servo_set_test(unsigned int chan, float val)
+{
+	_retries = 0;
+	int ret;
+
+	float tmpVal = 0;
+
+	uint8_t msg[2] = { 0,0 };
+
+	tmpVal = (1023 + (1023 * val));
+	if(tmpVal > 2048) {
+		tmpVal = 2048;
+	}
+
+	Motor[chan].SetPoint = (uint8_t) (tmpVal / 8);
+
+	if(_armed == false) {
+		Motor[chan].SetPoint = 0;
+		Motor[chan].SetPointLowerBits = 0;
+	}
+
+	msg[0] = Motor[chan].SetPoint;
+
+	set_address(BLCTRL_BASE_ADDR + (chan + addrTranslator[chan]));
+	ret = transfer(&msg[0], 1, nullptr, 0);
+
+	ret = OK;
+
+	return ret;
+}
+
+
+int
+MK::mk_servo_test(unsigned int chan)
+{
+	int ret=0;
+	float tmpVal = 0;
+	float val = -1;
+	_retries = 0;
+	uint8_t msg[2] = { 0,0 };
+
+	if(debugCounter >= MOTOR_SPINUP_COUNTER) {
+		debugCounter = 0;
+		_motor++;
+
+		if(_motor < _num_outputs) {
+			fprintf(stderr, "[mkblctrl] Motortest - #%i:\tspinup\n", _motor);
+		}
+
+		if(_motor >= _num_outputs) {
+			_motor = -1;
+			_motortest = false;
+		}
+
+	}
+	debugCounter++;
+
+	if(_motor == chan) {
+		val = BLCTRL_MIN_VALUE;
+	} else {
+		val = -1;
+	}
+
+	tmpVal = (1023 + (1023 * val));
+	if(tmpVal > 2048) {
+		tmpVal = 2048;
+	}
+
+	//Motor[chan].SetPoint = (uint8_t) (tmpVal / 8);
+	//Motor[chan].SetPointLowerBits = (uint8_t) (tmpVal % 8) & 0x07;
+	Motor[chan].SetPoint = (uint8_t) tmpVal>>3;
+	Motor[chan].SetPointLowerBits = (uint8_t) tmpVal & 0x07;
+
+	if(_motor != chan) {
+		Motor[chan].SetPoint = 0;
+		Motor[chan].SetPointLowerBits = 0;
+	}
+
+	if(Motor[chan].Version == BLCTRL_OLD) {
+		msg[0] = Motor[chan].SetPoint;
+	} else {
+		msg[0] = Motor[chan].SetPoint;
+		msg[1] = Motor[chan].SetPointLowerBits;
+	}
+
+	set_address(BLCTRL_BASE_ADDR + (chan + addrTranslator[chan]));
+	if(Motor[chan].Version == BLCTRL_OLD) {
+		ret = transfer(&msg[0], 1, nullptr, 0);
+	} else {
+		ret = transfer(&msg[0], 2, nullptr, 0);
+	}
+
+	return ret;
+}
+
+
+int
+MK::control_callback(uintptr_t handle,
+			 uint8_t control_group,
+			 uint8_t control_index,
+			 float &input)
+{
+	const actuator_controls_s *controls = (actuator_controls_s *)handle;
+
+	input = controls->control[control_index];
+	return 0;
+}
+
+int
+MK::ioctl(file *filp, int cmd, unsigned long arg)
+{
+	int ret;
+
+	// XXX disabled, confusing users
+	//debug("ioctl 0x%04x 0x%08x", cmd, arg);
+
+	/* try it as a GPIO ioctl first */
+	ret = gpio_ioctl(filp, cmd, arg);
+
+	if (ret != -ENOTTY)
+		return ret;
+
+	/* if we are in valid PWM mode, try it as a PWM ioctl as well */
+	switch (_mode) {
+	case MODE_2PWM:
+	case MODE_4PWM:
+		ret = pwm_ioctl(filp, cmd, arg);
+		break;
+
+	default:
+		debug("not in a PWM mode");
+		break;
+	}
+
+	/* if nobody wants it, let CDev have it */
+	if (ret == -ENOTTY)
+		ret = CDev::ioctl(filp, cmd, arg);
+
+	return ret;
+}
+
+int
+MK::pwm_ioctl(file *filp, int cmd, unsigned long arg)
+{
+	int ret = OK;
+	int channel;
+
+	lock();
+
+	switch (cmd) {
+	case PWM_SERVO_ARM:
+		////up_pwm_servo_arm(true);
+		mk_servo_arm(true);
+		break;
+
+	case PWM_SERVO_DISARM:
+		////up_pwm_servo_arm(false);
+		mk_servo_arm(false);
+		break;
+
+	case PWM_SERVO_SET_UPDATE_RATE:
+		set_pwm_rate(arg);
+		break;
+
+
+	case PWM_SERVO_SET(0) ... PWM_SERVO_SET(_max_actuators - 1):
+
+		/* fake an update to the selected 'servo' channel */
+		if ((arg >= 0) && (arg <= 255)) {
+			channel = cmd - PWM_SERVO_SET(0);
+			//mk_servo_set(channel, arg);
+		} else {
+			ret = -EINVAL;
+		}
+
+		break;
+
+	case PWM_SERVO_GET(0) ... PWM_SERVO_GET(_max_actuators - 1):
+		/* copy the current output value from the channel */
+		*(servo_position_t *)arg = cmd - PWM_SERVO_GET(0);
+		break;
+
+	case MIXERIOCGETOUTPUTCOUNT:
+		/*
+		if (_mode == MODE_4PWM) {
+			*(unsigned *)arg = 4;
+		} else {
+			*(unsigned *)arg = 2;
+		}
+		 */
+
+		*(unsigned *)arg = _num_outputs;
+
+		break;
+
+	case MIXERIOCRESET:
+		if (_mixers != nullptr) {
+			delete _mixers;
+			_mixers = nullptr;
+		}
+
+		break;
+
+	case MIXERIOCADDSIMPLE: {
+			mixer_simple_s *mixinfo = (mixer_simple_s *)arg;
+
+			SimpleMixer *mixer = new SimpleMixer(control_callback,
+							     (uintptr_t)&_controls, mixinfo);
+
+			if (mixer->check()) {
+				delete mixer;
+				ret = -EINVAL;
+
+			} else {
+				if (_mixers == nullptr)
+					_mixers = new MixerGroup(control_callback,
+								 (uintptr_t)&_controls);
+
+				_mixers->add_mixer(mixer);
+			}
+
+			break;
+		}
+
+	case MIXERIOCLOADBUF: {
+			const char *buf = (const char *)arg;
+			unsigned buflen = strnlen(buf, 1024);
+
+			if (_mixers == nullptr)
+				_mixers = new MixerGroup(control_callback, (uintptr_t)&_controls);
+
+			if (_mixers == nullptr) {
+				ret = -ENOMEM;
+
+			} else {
+
+				ret = _mixers->load_from_buf(buf, buflen);
+
+				if (ret != 0) {
+					debug("mixer load failed with %d", ret);
+					delete _mixers;
+					_mixers = nullptr;
+					ret = -EINVAL;
+				}
+			}
+			break;
+		}
+
+	default:
+		ret = -ENOTTY;
+		break;
+	}
+
+	unlock();
+
+	return ret;
+}
+
+void
+MK::gpio_reset(void)
+{
+	/*
+	 * Setup default GPIO config - all pins as GPIOs, GPIO driver chip
+	 * to input mode.
+	 */
+	for (unsigned i = 0; i < _ngpio; i++)
+		stm32_configgpio(_gpio_tab[i].input);
+
+	stm32_gpiowrite(GPIO_GPIO_DIR, 0);
+	stm32_configgpio(GPIO_GPIO_DIR);
+}
+
+void
+MK::gpio_set_function(uint32_t gpios, int function)
+{
+	/*
+	 * GPIOs 0 and 1 must have the same direction as they are buffered
+	 * by a shared 2-port driver.  Any attempt to set either sets both.
+	 */
+	if (gpios & 3) {
+		gpios |= 3;
+
+		/* flip the buffer to output mode if required */
+		if (GPIO_SET_OUTPUT == function)
+			stm32_gpiowrite(GPIO_GPIO_DIR, 1);
+	}
+
+	/* configure selected GPIOs as required */
+	for (unsigned i = 0; i < _ngpio; i++) {
+		if (gpios & (1 << i)) {
+			switch (function) {
+			case GPIO_SET_INPUT:
+				stm32_configgpio(_gpio_tab[i].input);
+				break;
+
+			case GPIO_SET_OUTPUT:
+				stm32_configgpio(_gpio_tab[i].output);
+				break;
+
+			case GPIO_SET_ALT_1:
+				if (_gpio_tab[i].alt != 0)
+					stm32_configgpio(_gpio_tab[i].alt);
+
+				break;
+			}
+		}
+	}
+
+	/* flip buffer to input mode if required */
+	if ((GPIO_SET_INPUT == function) && (gpios & 3))
+		stm32_gpiowrite(GPIO_GPIO_DIR, 0);
+}
+
+void
+MK::gpio_write(uint32_t gpios, int function)
+{
+	int value = (function == GPIO_SET) ? 1 : 0;
+
+	for (unsigned i = 0; i < _ngpio; i++)
+		if (gpios & (1 << i))
+			stm32_gpiowrite(_gpio_tab[i].output, value);
+}
+
+uint32_t
+MK::gpio_read(void)
+{
+	uint32_t bits = 0;
+
+	for (unsigned i = 0; i < _ngpio; i++)
+		if (stm32_gpioread(_gpio_tab[i].input))
+			bits |= (1 << i);
+
+	return bits;
+}
+
+int
+MK::gpio_ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	int	ret = OK;
+
+	lock();
+
+	switch (cmd) {
+
+	case GPIO_RESET:
+		gpio_reset();
+		break;
+
+	case GPIO_SET_OUTPUT:
+	case GPIO_SET_INPUT:
+	case GPIO_SET_ALT_1:
+		gpio_set_function(arg, cmd);
+		break;
+
+	case GPIO_SET_ALT_2:
+	case GPIO_SET_ALT_3:
+	case GPIO_SET_ALT_4:
+		ret = -EINVAL;
+		break;
+
+	case GPIO_SET:
+	case GPIO_CLEAR:
+		gpio_write(arg, cmd);
+		break;
+
+	case GPIO_GET:
+		*(uint32_t *)arg = gpio_read();
+		break;
+
+	default:
+		ret = -ENOTTY;
+	}
+
+	unlock();
+
+	return ret;
+}
+
+namespace
+{
+
+enum PortMode {
+	PORT_MODE_UNSET = 0,
+	PORT_FULL_GPIO,
+	PORT_FULL_SERIAL,
+	PORT_FULL_PWM,
+	PORT_GPIO_AND_SERIAL,
+	PORT_PWM_AND_SERIAL,
+	PORT_PWM_AND_GPIO,
+};
+
+enum MappingMode {
+	MAPPING_MK = 0,
+	MAPPING_PX4,
+};
+
+	enum FrameType {
+		FRAME_PLUS = 0,
+		FRAME_X,
+	};
+
+PortMode g_port_mode;
+
+int
+mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest, int px4mode, int frametype)
+{
+	uint32_t gpio_bits;
+	int shouldStop = 0;
+	MK::Mode servo_mode;
+
+	/* reset to all-inputs */
+	g_mk->ioctl(0, GPIO_RESET, 0);
+
+	gpio_bits = 0;
+	servo_mode = MK::MODE_NONE;
+
+	switch (new_mode) {
+	case PORT_FULL_GPIO:
+	case PORT_MODE_UNSET:
+		/* nothing more to do here */
+		break;
+
+	case PORT_FULL_SERIAL:
+		/* set all multi-GPIOs to serial mode */
+		gpio_bits = GPIO_MULTI_1 | GPIO_MULTI_2 | GPIO_MULTI_3 | GPIO_MULTI_4;
+		break;
+
+	case PORT_FULL_PWM:
+		/* select 4-pin PWM mode */
+		servo_mode = MK::MODE_4PWM;
+		break;
+
+	case PORT_GPIO_AND_SERIAL:
+		/* set RX/TX multi-GPIOs to serial mode */
+		gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4;
+		break;
+
+	case PORT_PWM_AND_SERIAL:
+		/* select 2-pin PWM mode */
+		servo_mode = MK::MODE_2PWM;
+		/* set RX/TX multi-GPIOs to serial mode */
+		gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4;
+		break;
+
+	case PORT_PWM_AND_GPIO:
+		/* select 2-pin PWM mode */
+		servo_mode = MK::MODE_2PWM;
+		break;
+	}
+
+	/* adjust GPIO config for serial mode(s) */
+	if (gpio_bits != 0)
+		g_mk->ioctl(0, GPIO_SET_ALT_1, gpio_bits);
+
+	/* native PX4 addressing) */
+	g_mk->set_px4mode(px4mode);
+
+	/* set frametype (geometry) */
+	g_mk->set_frametype(frametype);
+
+	/* motortest if enabled */
+	g_mk->set_motor_test(motortest);
+
+
+	/* (re)set count of used motors */
+	////g_mk->set_motor_count(motorcount);
+	/* count used motors */
+
+	do {
+		if(g_mk->mk_check_for_blctrl(8, false) != 0) {
+			shouldStop = 4;
+		} else {
+			shouldStop++;
+		}
+		sleep(1);
+	} while ( shouldStop < 3);
+
+	g_mk->set_motor_count(g_mk->mk_check_for_blctrl(8, true));
+
+	/* (re)set the PWM output mode */
+	g_mk->set_mode(servo_mode);
+
+
+	if ((servo_mode != MK::MODE_NONE) && (update_rate != 0))
+		g_mk->set_pwm_rate(update_rate);
+
+	return OK;
+}
+
+int
+mk_start(unsigned bus, unsigned motors)
+{
+	int ret = OK;
+
+	if (g_mk == nullptr) {
+
+		g_mk = new MK(bus);
+
+		if (g_mk == nullptr) {
+			ret = -ENOMEM;
+
+		} else {
+			ret = g_mk->init(motors);
+
+			if (ret != OK) {
+				delete g_mk;
+				g_mk = nullptr;
+			}
+		}
+	}
+
+	return ret;
+}
+
+
+} // namespace
+
+extern "C" __EXPORT int mkblctrl_main(int argc, char *argv[]);
+
+int
+mkblctrl_main(int argc, char *argv[])
+{
+	PortMode port_mode = PORT_FULL_PWM;
+	int pwm_update_rate_in_hz = UPDATE_RATE;
+	int motorcount = 8;
+	int bus = 1;
+	int px4mode = MAPPING_PX4;
+	int frametype = FRAME_PLUS;	// + plus is default
+	bool motortest = false;
+	bool showHelp = false;
+	bool newMode = false;
+
+	/*
+	 * optional parameters
+	 */
+	for (int i = 1; i < argc; i++) {
+
+		/* look for the optional i2c bus parameter */
+		if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--bus") == 0) {
+			if (argc > i + 1) {
+				bus = atoi(argv[i + 1]);
+				newMode = true;
+				} else {
+				errx(1, "missing argument for i2c bus (-b)");
+				return 1;
+			}
+		}
+
+		/* look for the optional frame parameter */
+		if (strcmp(argv[i], "-mkmode") == 0 || strcmp(argv[i], "--mkmode") == 0) {
+			if (argc > i + 1) {
+				if(strcmp(argv[i + 1], "+") == 0 || strcmp(argv[i + 1], "x") == 0 || strcmp(argv[i + 1], "X") == 0) {
+					px4mode = MAPPING_MK;
+					newMode = true;
+					if(strcmp(argv[i + 1], "+") == 0) {
+						frametype = FRAME_PLUS;
+					} else {
+						frametype = FRAME_X;
+					}
+				} else {
+					errx(1, "only + or x for frametype supported !");
+				}
+			} else {
+				errx(1, "missing argument for mkmode (-mkmode)");
+				return 1;
+			}
+		}
+
+		/* look for the optional test parameter */
+		if (strcmp(argv[i], "-t") == 0) {
+			motortest = true;
+			newMode = true;
+		}
+
+		/* look for the optional -h --help parameter */
+		if (strcmp(argv[i], "-h") == 0 || strcmp(argv[i], "--help") == 0) {
+			showHelp == true;
+		}
+
+	}
+
+	if(showHelp) {
+		fprintf(stderr, "mkblctrl: help:\n");
+		fprintf(stderr, "  [-mkmode frame{+/x}] [-b i2c_bus_number] [-t motortest] [-h / --help]\n");
+		exit(1);
+	}
+
+
+	if (g_mk == nullptr) {
+		if (mk_start(bus, motorcount) != OK) {
+			errx(1, "failed to start the MK-BLCtrl driver");
+		} else {
+			newMode = true;
+		}
+	}
+
+
+	/* parameter set ? */
+	if (newMode) {
+		/* switch parameter */
+		return mk_new_mode(port_mode, pwm_update_rate_in_hz, motorcount, motortest, px4mode, frametype);
+	}
+
+	/* test, etc. here g*/
+
+	exit(1);
+}
diff --git a/apps/commander/Makefile b/src/drivers/mkblctrl/module.mk
index d12697274..3ac263b00 100644
--- a/apps/commander/Makefile
+++ b/src/drivers/mkblctrl/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012,2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -32,14 +32,11 @@
 ############################################################################
 
 #
-# Commander application
+# Interface driver for the Mikrokopter BLCtrl
 #
 
-APPNAME		 = commander
-PRIORITY	 = SCHED_PRIORITY_MAX - 30
-STACKSIZE	 = 2048
+MODULE_COMMAND		= mkblctrl
 
-INCLUDES	= $(TOPDIR)/../mavlink/include/mavlink
-
-include $(APPDIR)/mk/app.mk
+SRCS				= mkblctrl.cpp
 
+INCLUDE_DIRS		+= $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
diff --git a/apps/mavlink/Makefile b/src/drivers/mpu6000/module.mk
index 8ddb69b71..c7d9cd3ef 100644
--- a/apps/mavlink/Makefile
+++ b/src/drivers/mpu6000/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -32,13 +32,12 @@
 ############################################################################
 
 #
-# Mavlink Application
+# Makefile to build the MPU6000 driver.
 #
 
-APPNAME		 = mavlink
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
+MODULE_COMMAND	= mpu6000
 
-INCLUDES	 = $(TOPDIR)/../mavlink/include/mavlink
+# XXX seems excessive, check if 2048 is not sufficient
+MODULE_STACKSIZE	 = 4096
 
-include $(APPDIR)/mk/app.mk
+SRCS		= mpu6000.cpp
diff --git a/apps/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp
index ce7062046..df1958186 100644
--- a/apps/drivers/mpu6000/mpu6000.cpp
+++ b/src/drivers/mpu6000/mpu6000.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
diff --git a/apps/drivers/device/Makefile b/src/drivers/ms5611/module.mk
index f7b1fff88..3c4b0f093 100644
--- a/apps/drivers/device/Makefile
+++ b/src/drivers/ms5611/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -32,7 +32,9 @@
 ############################################################################
 
 #
-# Build the device driver framework.
+# MS5611 driver
 #
 
-include $(APPDIR)/mk/app.mk
+MODULE_COMMAND	= ms5611
+
+SRCS		= ms5611.cpp
diff --git a/apps/drivers/ms5611/ms5611.cpp b/src/drivers/ms5611/ms5611.cpp
index 59ab5936e..59ab5936e 100644
--- a/apps/drivers/ms5611/ms5611.cpp
+++ b/src/drivers/ms5611/ms5611.cpp
diff --git a/apps/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index e54724536..e54724536 100644
--- a/apps/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
diff --git a/src/drivers/px4fmu/module.mk b/src/drivers/px4fmu/module.mk
new file mode 100644
index 000000000..05bc7a5b3
--- /dev/null
+++ b/src/drivers/px4fmu/module.mk
@@ -0,0 +1,6 @@
+#
+# Interface driver for the PX4FMU board
+#
+
+MODULE_COMMAND	 = fmu
+SRCS		 = fmu.cpp
diff --git a/apps/drivers/px4io/Makefile b/src/drivers/px4io/module.mk
index cbd942546..328e5a684 100644
--- a/apps/drivers/px4io/Makefile
+++ b/src/drivers/px4io/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -35,8 +35,7 @@
 # Interface driver for the PX4IO board.
 #
 
-APPNAME		 = px4io
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
+MODULE_COMMAND		= px4io
 
-include $(APPDIR)/mk/app.mk
+SRCS			= px4io.cpp \
+			  uploader.cpp
diff --git a/apps/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 4f6938a14..b4703839b 100644
--- a/apps/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, 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
@@ -80,11 +80,11 @@
 #include <uORB/topics/rc_channels.h>
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/parameter_update.h>
+#include <debug.h>
 
-#include <px4io/protocol.h>
 #include <mavlink/mavlink_log.h>
 #include "uploader.h"
-#include <debug.h>
+#include <modules/px4iofirmware/protocol.h>
 
 #define PX4IO_SET_DEBUG			_IOC(0xff00, 0)
 #define PX4IO_INAIR_RESTART_ENABLE	_IOC(0xff00, 1)
@@ -109,6 +109,14 @@ public:
 	int      set_update_rate(int rate);
 
 	/**
+	* Set the battery current scaling and bias
+	*
+	* @param amp_per_volt
+	* @param amp_bias
+	*/
+	void      set_battery_current_scaling(float amp_per_volt, float amp_bias);
+
+	/**
 	* Print the current status of IO
 	*/
 	void			print_status();
@@ -151,6 +159,10 @@ private:
 
 	bool			_primary_pwm_device;	///< true if we are the default PWM output
 
+	float			_battery_amp_per_volt;
+	float			_battery_amp_bias;
+	float			_battery_mamphour_total;
+	uint64_t		_battery_last_timestamp;
 
 	/**
 	 * Trampoline to the worker task
@@ -314,6 +326,10 @@ PX4IO::PX4IO() :
 	_to_actuators_effective(0),
 	_to_outputs(0),
 	_to_battery(0),
+	_battery_amp_per_volt(90.0f/5.0f), // this matches the 3DR current sensor
+	_battery_amp_bias(0),
+	_battery_mamphour_total(0),
+	_battery_last_timestamp(0),
 	_primary_pwm_device(false)
 {
 	/* we need this potentially before it could be set in task_main */
@@ -884,11 +900,22 @@ PX4IO::io_get_status()
 		/* voltage is scaled to mV */
 		battery_status.voltage_v = regs[2] / 1000.0f;
 
-		/* current scaling should be to cA in order to avoid limiting at 65A */
-		battery_status.current_a = regs[3] / 100.f;
+		/*
+		  regs[3] contains the raw ADC count, as 12 bit ADC
+		  value, with full range being 3.3v
+		 */
+		battery_status.current_a = regs[3] * (3.3f/4096.0f) * _battery_amp_per_volt;
+		battery_status.current_a += _battery_amp_bias;
 
-		/* this requires integration over time - not currently implemented */
-		battery_status.discharged_mah = -1.0f;
+		/*
+		  integrate battery over time to get total mAh used
+		 */
+		if (_battery_last_timestamp != 0) {
+			_battery_mamphour_total += battery_status.current_a * 
+				(battery_status.timestamp - _battery_last_timestamp) * 1.0e-3f / 3600;
+		}
+		battery_status.discharged_mah = _battery_mamphour_total;
+		_battery_last_timestamp = battery_status.timestamp;
 
 		/* lazily publish the battery voltage */
 		if (_to_battery > 0) {
@@ -1245,9 +1272,14 @@ PX4IO::print_status()
 		((alarms & PX4IO_P_STATUS_ALARMS_FMU_LOST)      ? " FMU_LOST" : ""),
 		((alarms & PX4IO_P_STATUS_ALARMS_RC_LOST)       ? " RC_LOST" : ""),
 		((alarms & PX4IO_P_STATUS_ALARMS_PWM_ERROR)     ? " PWM_ERROR" : ""));
-	printf("vbatt %u ibatt %u\n",
-		io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VBATT),
-		io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_IBATT));
+	printf("vbatt %u ibatt %u vbatt scale %u\n",
+	       io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VBATT),
+	       io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_IBATT),
+	       io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE));
+	printf("amp_per_volt %.3f amp_offset %.3f mAhDischarged %.3f\n",
+	       _battery_amp_per_volt,
+	       _battery_amp_bias,
+	       _battery_mamphour_total);
 	printf("actuators");
 	for (unsigned i = 0; i < _max_actuators; i++)
 		printf(" %u", io_reg_get(PX4IO_PAGE_ACTUATORS, i));
@@ -1288,10 +1320,6 @@ PX4IO::print_status()
 		io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_DEFAULTRATE),
 		io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE),
 		io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS));
-	printf("vbatt scale %u ibatt scale %u ibatt bias %u\n",
-		io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE),
-		io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_IBATT_SCALE),
-		io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_IBATT_BIAS));
 	printf("debuglevel %u\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG));
 	printf("controls");
 	for (unsigned i = 0; i < _max_controls; i++)
@@ -1336,11 +1364,7 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 
 	case PWM_SERVO_SET_UPDATE_RATE:
 		/* set the requested alternate rate */
-		if ((arg >= 50) && (arg <= 400)) {	/* TODO: we could go higher for e.g. TurboPWM */
-			ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE, arg);
-		} else {
-			ret = -EINVAL;
-		}
+		ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE, arg);
 		break;
 
 	case PWM_SERVO_SELECT_UPDATE_RATE: {
@@ -1525,6 +1549,12 @@ PX4IO::set_update_rate(int rate)
 	return 0;
 }
 
+void
+PX4IO::set_battery_current_scaling(float amp_per_volt, float amp_bias)
+{
+	_battery_amp_per_volt = amp_per_volt;
+	_battery_amp_bias = amp_bias;
+}
 
 extern "C" __EXPORT int px4io_main(int argc, char *argv[]);
 
@@ -1662,6 +1692,18 @@ px4io_main(int argc, char *argv[])
 		exit(0);
 	}
 
+	if (!strcmp(argv[1], "current")) {
+		if (g_dev != nullptr) {
+			if ((argc > 3)) {
+				g_dev->set_battery_current_scaling(atof(argv[2]), atof(argv[3]));
+			} else {
+				errx(1, "missing argument (apm_per_volt, amp_offset)");
+				return 1;
+			}
+		}
+		exit(0);
+	}
+
 	if (!strcmp(argv[1], "recovery")) {
 
 		if (g_dev != nullptr) {
@@ -1789,5 +1831,5 @@ px4io_main(int argc, char *argv[])
 		monitor();
 
 	out:
-	errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug', 'recovery', 'limit' or 'update'");
+	errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug', 'recovery', 'limit', 'current' or 'update'");
 }
diff --git a/apps/drivers/px4io/uploader.cpp b/src/drivers/px4io/uploader.cpp
index abf59216a..15524c3ae 100644
--- a/apps/drivers/px4io/uploader.cpp
+++ b/src/drivers/px4io/uploader.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -32,7 +32,8 @@
  ****************************************************************************/
 
 /**
- * @file Firmware uploader for PX4IO
+ * @file uploader.cpp
+ * Firmware uploader for PX4IO
  */
 
 #include <nuttx/config.h>
@@ -126,6 +127,8 @@ PX4IO_Uploader::upload(const char *filenames[])
 	if (ret != OK) {
 		/* this is immediately fatal */
 		log("bootloader not responding");
+		close(_io_fd);
+		_io_fd = -1;
 		return -EIO;
 	}
 
@@ -144,18 +147,25 @@ PX4IO_Uploader::upload(const char *filenames[])
 
 	if (filename == NULL) {
 		log("no firmware found");
+		close(_io_fd);
+		_io_fd = -1;
 		return -ENOENT;
 	}
 
 	struct stat st;
 	if (stat(filename, &st) != 0) {
 		log("Failed to stat %s - %d\n", filename, (int)errno);
+		close(_io_fd);
+		_io_fd = -1;
 		return -errno;
 	}
 	fw_size = st.st_size;
 
-	if (_fw_fd == -1)
+	if (_fw_fd == -1) {
+		close(_io_fd);
+		_io_fd = -1;
 		return -ENOENT;
+	}
 
 	/* do the usual program thing - allow for failure */
 	for (unsigned retries = 0; retries < 1; retries++) {
@@ -166,6 +176,8 @@ PX4IO_Uploader::upload(const char *filenames[])
 			if (ret != OK) {
 				/* this is immediately fatal */
 				log("bootloader not responding");
+				close(_io_fd);
+				_io_fd = -1;
 				return -EIO;
 			}
 		}
@@ -177,6 +189,8 @@ PX4IO_Uploader::upload(const char *filenames[])
 				log("found bootloader revision: %d", bl_rev);
 			} else {
 				log("found unsupported bootloader revision %d, exiting", bl_rev);
+				close(_io_fd);
+				_io_fd = -1;
 				return OK;
 			}
 		}
@@ -220,6 +234,8 @@ PX4IO_Uploader::upload(const char *filenames[])
 	}
 
 	close(_fw_fd);
+	close(_io_fd);
+	_io_fd = -1;
 	return ret;
 }
 
diff --git a/apps/drivers/px4io/uploader.h b/src/drivers/px4io/uploader.h
index f983d1981..135202dd1 100644
--- a/apps/drivers/px4io/uploader.h
+++ b/src/drivers/px4io/uploader.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -32,7 +32,8 @@
  ****************************************************************************/
 
 /**
- * @file Firmware uploader for PX4IO
+ * @file uploader.h
+ * Firmware uploader definitions for PX4IO.
  */
 
 #ifndef _PX4IO_UPLOADER_H
diff --git a/apps/drivers/stm32/adc/adc.cpp b/src/drivers/stm32/adc/adc.cpp
index 911def943..911def943 100644
--- a/apps/drivers/stm32/adc/adc.cpp
+++ b/src/drivers/stm32/adc/adc.cpp
diff --git a/apps/drivers/hil/Makefile b/src/drivers/stm32/adc/module.mk
index 1fb6e37bc..48620feea 100644
--- a/apps/drivers/hil/Makefile
+++ b/src/drivers/stm32/adc/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -32,11 +32,11 @@
 ############################################################################
 
 #
-# Interface driver for the PX4FMU board
+# STM32 ADC driver
 #
 
-APPNAME		 = hil
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
+MODULE_COMMAND	= adc
 
-include $(APPDIR)/mk/app.mk
+SRCS		= adc.cpp
+
+INCLUDE_DIRS	+= $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common
diff --git a/apps/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c
index bb67d5e6d..cec0c49ff 100644
--- a/apps/drivers/stm32/drv_hrt.c
+++ b/src/drivers/stm32/drv_hrt.c
@@ -125,7 +125,7 @@
 # define HRT_TIMER_VECTOR	STM32_IRQ_TIM8CC
 # define HRT_TIMER_CLOCK	STM32_APB2_TIM8_CLKIN
 # if CONFIG_STM32_TIM8
-#  error must not set CONFIG_STM32_TIM8=y and HRT_TIMER=6
+#  error must not set CONFIG_STM32_TIM8=y and HRT_TIMER=8
 # endif
 #elif HRT_TIMER == 9
 # define HRT_TIMER_BASE		STM32_TIM9_BASE
diff --git a/apps/drivers/stm32/drv_pwm_servo.c b/src/drivers/stm32/drv_pwm_servo.c
index d7316e1f7..c1efb8515 100644
--- a/apps/drivers/stm32/drv_pwm_servo.c
+++ b/src/drivers/stm32/drv_pwm_servo.c
@@ -290,6 +290,8 @@ up_pwm_servo_set_rate(unsigned rate)
 {
 	for (unsigned i = 0; i < PWM_SERVO_MAX_TIMERS; i++)
 		up_pwm_servo_set_rate_group_update(i, rate);
+
+	return 0;
 }
 
 uint32_t
diff --git a/apps/drivers/stm32/drv_pwm_servo.h b/src/drivers/stm32/drv_pwm_servo.h
index 5dd4cf70c..5dd4cf70c 100644
--- a/apps/drivers/stm32/drv_pwm_servo.h
+++ b/src/drivers/stm32/drv_pwm_servo.h
diff --git a/apps/drivers/stm32/Makefile b/src/drivers/stm32/module.mk
index 4ad57f413..bb751c7f6 100644
--- a/apps/drivers/stm32/Makefile
+++ b/src/drivers/stm32/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -37,6 +37,7 @@
 # Modules in this directory are compiled for all STM32 targets.
 #
 
-INCLUDES	 = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
+SRCS		= drv_hrt.c \
+		  drv_pwm_servo.c
 
-include $(APPDIR)/mk/app.mk
+INCLUDE_DIRS	+= $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common
diff --git a/src/drivers/stm32/tone_alarm/module.mk b/src/drivers/stm32/tone_alarm/module.mk
new file mode 100644
index 000000000..827cf30b2
--- /dev/null
+++ b/src/drivers/stm32/tone_alarm/module.mk
@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Tone alarm driver
+#
+
+MODULE_COMMAND	= tone_alarm
+
+SRCS		= tone_alarm.cpp
+
+INCLUDE_DIRS	+= $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common
diff --git a/apps/drivers/stm32/tone_alarm/tone_alarm.cpp b/src/drivers/stm32/tone_alarm/tone_alarm.cpp
index baa652d8a..ac5511e60 100644
--- a/apps/drivers/stm32/tone_alarm/tone_alarm.cpp
+++ b/src/drivers/stm32/tone_alarm/tone_alarm.cpp
@@ -494,7 +494,7 @@ ToneAlarm::init()
 		return ret;
 
 	/* configure the GPIO to the idle state */
-	stm32_configgpio(GPIO_TONE_ALARM);
+	stm32_configgpio(GPIO_TONE_ALARM_IDLE);
 
 	/* clock/power on our timer */
 	modifyreg32(STM32_RCC_APB1ENR, 0, TONE_ALARM_CLOCK_ENABLE);
@@ -606,6 +606,8 @@ ToneAlarm::start_note(unsigned note)
 	rEGR = GTIM_EGR_UG;	// force a reload of the period
 	rCCER |= TONE_CCER;	// enable the output
 
+	// configure the GPIO to enable timer output
+	stm32_configgpio(GPIO_TONE_ALARM);
 }
 
 void
@@ -616,10 +618,8 @@ ToneAlarm::stop_note()
 
 	/*
 	 * Make sure the GPIO is not driving the speaker.
-	 *
-	 * XXX this presumes PX4FMU and the onboard speaker driver FET.
 	 */
-	stm32_gpiowrite(GPIO_TONE_ALARM, 0);
+	stm32_configgpio(GPIO_TONE_ALARM_IDLE);
 }
 
 void
diff --git a/apps/examples/math_demo/math_demo.cpp b/src/examples/math_demo/math_demo.cpp
index a9c556748..36d3c2e84 100644
--- a/apps/examples/math_demo/math_demo.cpp
+++ b/src/examples/math_demo/math_demo.cpp
@@ -1,7 +1,7 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Example User <mail@example.com>
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Author: James Goppert
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -34,6 +34,7 @@
 
 /**
  * @file math_demo.cpp
+ * @author James Goppert
  * Demonstration of math library
  */
 
diff --git a/apps/drivers/ms5611/Makefile b/src/examples/math_demo/module.mk
index d8e67cba2..deba13fd0 100644
--- a/apps/drivers/ms5611/Makefile
+++ b/src/examples/math_demo/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -32,11 +32,10 @@
 ############################################################################
 
 #
-# MS5611 driver
+# Mathlib / operations demo application
 #
 
-APPNAME		 = ms5611
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
+MODULE_COMMAND		= math_demo
+MODULE_STACKSIZE	= 12000
 
-include $(APPDIR)/mk/app.mk
+SRCS			= math_demo.cpp
diff --git a/src/examples/px4_daemon_app/module.mk b/src/examples/px4_daemon_app/module.mk
new file mode 100644
index 000000000..d23c19b75
--- /dev/null
+++ b/src/examples/px4_daemon_app/module.mk
@@ -0,0 +1,40 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Daemon application
+#
+
+MODULE_COMMAND		= px4_daemon_app
+
+SRCS				= px4_daemon_app.c
diff --git a/apps/examples/px4_deamon_app/px4_deamon_app.c b/src/examples/px4_daemon_app/px4_daemon_app.c
index a5d847777..a5d847777 100644
--- a/apps/examples/px4_deamon_app/px4_deamon_app.c
+++ b/src/examples/px4_daemon_app/px4_daemon_app.c
diff --git a/apps/examples/math_demo/Makefile b/src/examples/px4_mavlink_debug/module.mk
index a1105899a..3d400fdbf 100644
--- a/apps/examples/math_demo/Makefile
+++ b/src/examples/px4_mavlink_debug/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -35,8 +35,6 @@
 # Basic example application
 #
 
-APPNAME		 = math_demo
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 8192
+MODULE_COMMAND		= px4_mavlink_debug
 
-include $(APPDIR)/mk/app.mk
+SRCS				= px4_mavlink_debug.c
\ No newline at end of file
diff --git a/apps/examples/px4_mavlink_debug/px4_mavlink_debug.c b/src/examples/px4_mavlink_debug/px4_mavlink_debug.c
index aa1eb5ed8..aa1eb5ed8 100644
--- a/apps/examples/px4_mavlink_debug/px4_mavlink_debug.c
+++ b/src/examples/px4_mavlink_debug/px4_mavlink_debug.c
diff --git a/src/examples/px4_simple_app/module.mk b/src/examples/px4_simple_app/module.mk
new file mode 100644
index 000000000..2c102fa50
--- /dev/null
+++ b/src/examples/px4_simple_app/module.mk
@@ -0,0 +1,40 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Basic example application
+#
+
+MODULE_COMMAND		= px4_simple_app
+
+SRCS				= px4_simple_app.c
diff --git a/apps/examples/px4_simple_app/px4_simple_app.c b/src/examples/px4_simple_app/px4_simple_app.c
index 7f655964d..7f655964d 100644
--- a/apps/examples/px4_simple_app/px4_simple_app.c
+++ b/src/examples/px4_simple_app/px4_simple_app.c
diff --git a/apps/mavlink/mavlink_log.h b/src/include/mavlink/mavlink_log.h
index 233a76cb3..233a76cb3 100644
--- a/apps/mavlink/mavlink_log.h
+++ b/src/include/mavlink/mavlink_log.h
diff --git a/apps/systemlib/visibility.h b/src/include/visibility.h
index 2c6adc062..2c6adc062 100644
--- a/apps/systemlib/visibility.h
+++ b/src/include/visibility.h
diff --git a/apps/examples/kalman_demo/KalmanNav.cpp b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp
index 6df454a55..4ef150da1 100644
--- a/apps/examples/kalman_demo/KalmanNav.cpp
+++ b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp
@@ -355,6 +355,8 @@ int KalmanNav::predictState(float dt)
 		float LDot = vN / R;
 		float lDot = vE / (cosLSing * R);
 		float rotRate = 2 * omega + lDot;
+
+		// XXX position prediction using speed
 		float vNDot = fN - vE * rotRate * sinL +
 			      vD * LDot;
 		float vDDot = fD - vE * rotRate * cosL -
diff --git a/apps/examples/kalman_demo/KalmanNav.hpp b/src/modules/att_pos_estimator_ekf/KalmanNav.hpp
index c2bf18115..c2bf18115 100644
--- a/apps/examples/kalman_demo/KalmanNav.hpp
+++ b/src/modules/att_pos_estimator_ekf/KalmanNav.hpp
diff --git a/apps/examples/kalman_demo/kalman_demo.cpp b/src/modules/att_pos_estimator_ekf/kalman_main.cpp
index 581b68b01..aebe3d1fe 100644
--- a/apps/examples/kalman_demo/kalman_demo.cpp
+++ b/src/modules/att_pos_estimator_ekf/kalman_main.cpp
@@ -55,7 +55,7 @@ static int deamon_task;             /**< Handle of deamon task / thread */
 /**
  * Deamon management function.
  */
-extern "C" __EXPORT int kalman_demo_main(int argc, char *argv[]);
+extern "C" __EXPORT int att_pos_estimator_ekf_main(int argc, char *argv[]);
 
 /**
  * Mainloop of deamon.
@@ -85,7 +85,7 @@ usage(const char *reason)
  * The actual stack size should be set in the call
  * to task_create().
  */
-int kalman_demo_main(int argc, char *argv[])
+int att_pos_estimator_ekf_main(int argc, char *argv[])
 {
 
 	if (argc < 1)
diff --git a/apps/drivers/px4fmu/Makefile b/src/modules/att_pos_estimator_ekf/module.mk
index 7f7c2a732..21b7c9166 100644
--- a/apps/drivers/px4fmu/Makefile
+++ b/src/modules/att_pos_estimator_ekf/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -32,13 +32,14 @@
 ############################################################################
 
 #
-# Interface driver for the PX4FMU board
+# Full attitude / position Extended Kalman Filter
 #
 
-APPNAME		 = fmu
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
+MODULE_COMMAND	= att_pos_estimator_ekf
 
-INCLUDES	 = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
+# XXX this might be intended for the spawned deamon, validate
+MODULE_PRIORITY	 = "SCHED_PRIORITY_MAX-30"
 
-include $(APPDIR)/mk/app.mk
+SRCS		= kalman_main.cpp \
+		  KalmanNav.cpp \
+		  params.c
diff --git a/apps/examples/kalman_demo/params.c b/src/modules/att_pos_estimator_ekf/params.c
index 50642f067..50642f067 100644
--- a/apps/examples/kalman_demo/params.c
+++ b/src/modules/att_pos_estimator_ekf/params.c
diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
index bd972f03f..8e18c3c9a 100755
--- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
@@ -46,7 +46,6 @@
 #include <stdbool.h>
 #include <poll.h>
 #include <fcntl.h>
-#include <v1.0/common/mavlink.h>
 #include <float.h>
 #include <nuttx/sched.h>
 #include <sys/prctl.h>
@@ -66,11 +65,17 @@
 #include <systemlib/perf_counter.h>
 #include <systemlib/err.h>
 
+#ifdef __cplusplus
+extern "C" {
+#endif
 #include "codegen/attitudeKalmanfilter_initialize.h"
 #include "codegen/attitudeKalmanfilter.h"
 #include "attitude_estimator_ekf_params.h"
+#ifdef __cplusplus
+}
+#endif
 
-__EXPORT int attitude_estimator_ekf_main(int argc, char *argv[]);
+extern "C" __EXPORT int attitude_estimator_ekf_main(int argc, char *argv[]);
 
 static bool thread_should_exit = false;		/**< Deamon exit flag */
 static bool thread_running = false;		/**< Deamon status flag */
@@ -265,10 +270,11 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 	/* Main loop*/
 	while (!thread_should_exit) {
 
-		struct pollfd fds[2] = {
-			{ .fd = sub_raw,   .events = POLLIN },
-			{ .fd = sub_params, .events = POLLIN }
-		};
+		struct pollfd fds[2];
+		fds[0].fd = sub_raw;
+		fds[0].events = POLLIN;
+		fds[1].fd = sub_params;
+		fds[1].events = POLLIN;
 		int ret = poll(fds, 2, 1000);
 
 		if (ret < 0) {
diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
index 7d3812abd..7d3812abd 100755
--- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h
index 09817d58e..09817d58e 100755
--- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h
diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c
index 9e97ad11a..9e97ad11a 100755
--- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c
+++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c
diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h
index afa63c1a9..afa63c1a9 100755
--- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h
+++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h
diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c
index 7d620d7fa..7d620d7fa 100755
--- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c
+++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c
diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h
index 8b599be66..8b599be66 100755
--- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h
+++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h
diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c
index 7f9727419..7f9727419 100755
--- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c
+++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c
diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h
index da84a5024..da84a5024 100755
--- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h
+++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h
diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h
index 30fd1e75e..30fd1e75e 100755
--- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h
+++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h
diff --git a/apps/attitude_estimator_ekf/codegen/cross.c b/src/modules/attitude_estimator_ekf/codegen/cross.c
index 84ada9002..84ada9002 100755
--- a/apps/attitude_estimator_ekf/codegen/cross.c
+++ b/src/modules/attitude_estimator_ekf/codegen/cross.c
diff --git a/apps/attitude_estimator_ekf/codegen/cross.h b/src/modules/attitude_estimator_ekf/codegen/cross.h
index e727f0684..e727f0684 100755
--- a/apps/attitude_estimator_ekf/codegen/cross.h
+++ b/src/modules/attitude_estimator_ekf/codegen/cross.h
diff --git a/apps/attitude_estimator_ekf/codegen/eye.c b/src/modules/attitude_estimator_ekf/codegen/eye.c
index b89ab58ef..b89ab58ef 100755
--- a/apps/attitude_estimator_ekf/codegen/eye.c
+++ b/src/modules/attitude_estimator_ekf/codegen/eye.c
diff --git a/apps/attitude_estimator_ekf/codegen/eye.h b/src/modules/attitude_estimator_ekf/codegen/eye.h
index 94fbe7671..94fbe7671 100755
--- a/apps/attitude_estimator_ekf/codegen/eye.h
+++ b/src/modules/attitude_estimator_ekf/codegen/eye.h
diff --git a/apps/attitude_estimator_ekf/codegen/mrdivide.c b/src/modules/attitude_estimator_ekf/codegen/mrdivide.c
index a810f22e4..a810f22e4 100755
--- a/apps/attitude_estimator_ekf/codegen/mrdivide.c
+++ b/src/modules/attitude_estimator_ekf/codegen/mrdivide.c
diff --git a/apps/attitude_estimator_ekf/codegen/mrdivide.h b/src/modules/attitude_estimator_ekf/codegen/mrdivide.h
index 2d3b0d51f..2d3b0d51f 100755
--- a/apps/attitude_estimator_ekf/codegen/mrdivide.h
+++ b/src/modules/attitude_estimator_ekf/codegen/mrdivide.h
diff --git a/apps/attitude_estimator_ekf/codegen/norm.c b/src/modules/attitude_estimator_ekf/codegen/norm.c
index 0c418cc7b..0c418cc7b 100755
--- a/apps/attitude_estimator_ekf/codegen/norm.c
+++ b/src/modules/attitude_estimator_ekf/codegen/norm.c
diff --git a/apps/attitude_estimator_ekf/codegen/norm.h b/src/modules/attitude_estimator_ekf/codegen/norm.h
index 60cf77b57..60cf77b57 100755
--- a/apps/attitude_estimator_ekf/codegen/norm.h
+++ b/src/modules/attitude_estimator_ekf/codegen/norm.h
diff --git a/apps/attitude_estimator_ekf/codegen/rdivide.c b/src/modules/attitude_estimator_ekf/codegen/rdivide.c
index d035dae5e..d035dae5e 100755
--- a/apps/attitude_estimator_ekf/codegen/rdivide.c
+++ b/src/modules/attitude_estimator_ekf/codegen/rdivide.c
diff --git a/apps/attitude_estimator_ekf/codegen/rdivide.h b/src/modules/attitude_estimator_ekf/codegen/rdivide.h
index 4bbebebe2..4bbebebe2 100755
--- a/apps/attitude_estimator_ekf/codegen/rdivide.h
+++ b/src/modules/attitude_estimator_ekf/codegen/rdivide.h
diff --git a/apps/attitude_estimator_ekf/codegen/rtGetInf.c b/src/modules/attitude_estimator_ekf/codegen/rtGetInf.c
index 34164d104..34164d104 100755
--- a/apps/attitude_estimator_ekf/codegen/rtGetInf.c
+++ b/src/modules/attitude_estimator_ekf/codegen/rtGetInf.c
diff --git a/apps/attitude_estimator_ekf/codegen/rtGetInf.h b/src/modules/attitude_estimator_ekf/codegen/rtGetInf.h
index 145373cd0..145373cd0 100755
--- a/apps/attitude_estimator_ekf/codegen/rtGetInf.h
+++ b/src/modules/attitude_estimator_ekf/codegen/rtGetInf.h
diff --git a/apps/attitude_estimator_ekf/codegen/rtGetNaN.c b/src/modules/attitude_estimator_ekf/codegen/rtGetNaN.c
index d84ca9573..d84ca9573 100755
--- a/apps/attitude_estimator_ekf/codegen/rtGetNaN.c
+++ b/src/modules/attitude_estimator_ekf/codegen/rtGetNaN.c
diff --git a/apps/attitude_estimator_ekf/codegen/rtGetNaN.h b/src/modules/attitude_estimator_ekf/codegen/rtGetNaN.h
index 65fdaa96f..65fdaa96f 100755
--- a/apps/attitude_estimator_ekf/codegen/rtGetNaN.h
+++ b/src/modules/attitude_estimator_ekf/codegen/rtGetNaN.h
diff --git a/apps/attitude_estimator_ekf/codegen/rt_defines.h b/src/modules/attitude_estimator_ekf/codegen/rt_defines.h
index 356498363..356498363 100755
--- a/apps/attitude_estimator_ekf/codegen/rt_defines.h
+++ b/src/modules/attitude_estimator_ekf/codegen/rt_defines.h
diff --git a/apps/attitude_estimator_ekf/codegen/rt_nonfinite.c b/src/modules/attitude_estimator_ekf/codegen/rt_nonfinite.c
index 303d1d9d2..303d1d9d2 100755
--- a/apps/attitude_estimator_ekf/codegen/rt_nonfinite.c
+++ b/src/modules/attitude_estimator_ekf/codegen/rt_nonfinite.c
diff --git a/apps/attitude_estimator_ekf/codegen/rt_nonfinite.h b/src/modules/attitude_estimator_ekf/codegen/rt_nonfinite.h
index bd56b30d9..bd56b30d9 100755
--- a/apps/attitude_estimator_ekf/codegen/rt_nonfinite.h
+++ b/src/modules/attitude_estimator_ekf/codegen/rt_nonfinite.h
diff --git a/apps/attitude_estimator_ekf/codegen/rtwtypes.h b/src/modules/attitude_estimator_ekf/codegen/rtwtypes.h
index 9a5c96267..9a5c96267 100755
--- a/apps/attitude_estimator_ekf/codegen/rtwtypes.h
+++ b/src/modules/attitude_estimator_ekf/codegen/rtwtypes.h
diff --git a/apps/attitude_estimator_ekf/Makefile b/src/modules/attitude_estimator_ekf/module.mk
index 734af7cc1..d98647f99 100755..100644
--- a/apps/attitude_estimator_ekf/Makefile
+++ b/src/modules/attitude_estimator_ekf/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -31,11 +31,13 @@
 #
 ############################################################################
 
-APPNAME		 = attitude_estimator_ekf
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
+#
+# Attitude estimator (Extended Kalman Filter)
+#
+
+MODULE_COMMAND	 = attitude_estimator_ekf
 
-CSRCS		 = attitude_estimator_ekf_main.c \
+SRCS		 = attitude_estimator_ekf_main.cpp \
 		   attitude_estimator_ekf_params.c \
 		   codegen/eye.c \
 		   codegen/attitudeKalmanfilter.c \
@@ -47,10 +49,4 @@ CSRCS		 = attitude_estimator_ekf_main.c \
 		   codegen/rtGetInf.c \
 		   codegen/rtGetNaN.c \
 		   codegen/norm.c \
-		   codegen/cross.c 
-
-
-# XXX this is *horribly* broken
-INCLUDES	+= $(TOPDIR)/../mavlink/include/mavlink
-
-include $(APPDIR)/mk/app.mk
+		   codegen/cross.c
diff --git a/apps/commander/calibration_routines.c b/src/modules/commander/calibration_routines.c
index a26938637..a26938637 100644
--- a/apps/commander/calibration_routines.c
+++ b/src/modules/commander/calibration_routines.c
diff --git a/apps/commander/calibration_routines.h b/src/modules/commander/calibration_routines.h
index e3e7fbafd..e3e7fbafd 100644
--- a/apps/commander/calibration_routines.h
+++ b/src/modules/commander/calibration_routines.h
diff --git a/apps/commander/commander.c b/src/modules/commander/commander.c
index 7c0a25f86..7c0a25f86 100644
--- a/apps/commander/commander.c
+++ b/src/modules/commander/commander.c
diff --git a/apps/commander/commander.h b/src/modules/commander/commander.h
index 04b4e72ab..04b4e72ab 100644
--- a/apps/commander/commander.h
+++ b/src/modules/commander/commander.h
diff --git a/src/modules/commander/module.mk b/src/modules/commander/module.mk
new file mode 100644
index 000000000..556d5c2df
--- /dev/null
+++ b/src/modules/commander/module.mk
@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Main system state machine
+#
+
+MODULE_COMMAND	 = commander
+SRCS		 = commander.c \
+			   state_machine_helper.c \
+			   calibration_routines.c
diff --git a/apps/commander/state_machine_helper.c b/src/modules/commander/state_machine_helper.c
index bea388a10..bea388a10 100644
--- a/apps/commander/state_machine_helper.c
+++ b/src/modules/commander/state_machine_helper.c
diff --git a/apps/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h
index 2f2ccc729..2f2ccc729 100644
--- a/apps/commander/state_machine_helper.h
+++ b/src/modules/commander/state_machine_helper.h
diff --git a/apps/controllib/block/Block.cpp b/src/modules/controllib/block/Block.cpp
index 5994d2315..5994d2315 100644
--- a/apps/controllib/block/Block.cpp
+++ b/src/modules/controllib/block/Block.cpp
diff --git a/apps/controllib/block/Block.hpp b/src/modules/controllib/block/Block.hpp
index 258701f27..258701f27 100644
--- a/apps/controllib/block/Block.hpp
+++ b/src/modules/controllib/block/Block.hpp
diff --git a/apps/controllib/block/BlockParam.cpp b/src/modules/controllib/block/BlockParam.cpp
index fd12e365d..fd12e365d 100644
--- a/apps/controllib/block/BlockParam.cpp
+++ b/src/modules/controllib/block/BlockParam.cpp
diff --git a/apps/controllib/block/BlockParam.hpp b/src/modules/controllib/block/BlockParam.hpp
index 58a9bfc0d..58a9bfc0d 100644
--- a/apps/controllib/block/BlockParam.hpp
+++ b/src/modules/controllib/block/BlockParam.hpp
diff --git a/apps/controllib/block/List.hpp b/src/modules/controllib/block/List.hpp
index 96b0b94d1..96b0b94d1 100644
--- a/apps/controllib/block/List.hpp
+++ b/src/modules/controllib/block/List.hpp
diff --git a/apps/controllib/block/UOrbPublication.cpp b/src/modules/controllib/block/UOrbPublication.cpp
index f69b39d90..f69b39d90 100644
--- a/apps/controllib/block/UOrbPublication.cpp
+++ b/src/modules/controllib/block/UOrbPublication.cpp
diff --git a/apps/controllib/block/UOrbPublication.hpp b/src/modules/controllib/block/UOrbPublication.hpp
index a36f4429f..a36f4429f 100644
--- a/apps/controllib/block/UOrbPublication.hpp
+++ b/src/modules/controllib/block/UOrbPublication.hpp
diff --git a/apps/controllib/block/UOrbSubscription.cpp b/src/modules/controllib/block/UOrbSubscription.cpp
index 022cadd24..022cadd24 100644
--- a/apps/controllib/block/UOrbSubscription.cpp
+++ b/src/modules/controllib/block/UOrbSubscription.cpp
diff --git a/apps/controllib/block/UOrbSubscription.hpp b/src/modules/controllib/block/UOrbSubscription.hpp
index 22cc2e114..22cc2e114 100644
--- a/apps/controllib/block/UOrbSubscription.hpp
+++ b/src/modules/controllib/block/UOrbSubscription.hpp
diff --git a/apps/controllib/blocks.cpp b/src/modules/controllib/blocks.cpp
index c6c374300..c6c374300 100644
--- a/apps/controllib/blocks.cpp
+++ b/src/modules/controllib/blocks.cpp
diff --git a/apps/controllib/blocks.hpp b/src/modules/controllib/blocks.hpp
index 7a785d12e..7a785d12e 100644
--- a/apps/controllib/blocks.hpp
+++ b/src/modules/controllib/blocks.hpp
diff --git a/apps/controllib/fixedwing.cpp b/src/modules/controllib/fixedwing.cpp
index 1cc28b9dd..1cc28b9dd 100644
--- a/apps/controllib/fixedwing.cpp
+++ b/src/modules/controllib/fixedwing.cpp
diff --git a/apps/controllib/fixedwing.hpp b/src/modules/controllib/fixedwing.hpp
index 281cbb4cb..281cbb4cb 100644
--- a/apps/controllib/fixedwing.hpp
+++ b/src/modules/controllib/fixedwing.hpp
diff --git a/apps/controllib/Makefile b/src/modules/controllib/module.mk
index 6749b805f..13d1069c7 100644
--- a/apps/controllib/Makefile
+++ b/src/modules/controllib/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -34,13 +34,10 @@
 #
 # Control library
 #
-CSRCS		 = test_params.c
-
-CXXSRCS		 = block/Block.cpp \
+SRCS		 = test_params.c \
+		   block/Block.cpp \
 		   block/BlockParam.cpp \
 		   block/UOrbPublication.cpp \
 		   block/UOrbSubscription.cpp \
 		   blocks.cpp \
 		   fixedwing.cpp
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/controllib/test_params.c b/src/modules/controllib/test_params.c
index 7c609cad3..7c609cad3 100644
--- a/apps/controllib/test_params.c
+++ b/src/modules/controllib/test_params.c
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/src/modules/fixedwing_att_control/fixedwing_att_control_att.c
index b012448a2..769b8b0a8 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_att.c
+++ b/src/modules/fixedwing_att_control/fixedwing_att_control_att.c
@@ -35,7 +35,6 @@
  * @file fixedwing_att_control_rate.c
  * Implementation of a fixed wing attitude controller.
  */
-#include <fixedwing_att_control_att.h>
 
 #include <nuttx/config.h>
 #include <stdio.h>
@@ -59,7 +58,7 @@
 #include <systemlib/geo/geo.h>
 #include <systemlib/systemlib.h>
 
-
+#include "fixedwing_att_control_att.h"
 
 
 struct fw_att_control_params {
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.h b/src/modules/fixedwing_att_control/fixedwing_att_control_att.h
index 600e35b89..600e35b89 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_att.h
+++ b/src/modules/fixedwing_att_control/fixedwing_att_control_att.h
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/src/modules/fixedwing_att_control/fixedwing_att_control_main.c
index aa9db6d52..58477632b 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_main.c
+++ b/src/modules/fixedwing_att_control/fixedwing_att_control_main.c
@@ -65,8 +65,9 @@
 #include <systemlib/geo/geo.h>
 #include <systemlib/perf_counter.h>
 #include <systemlib/systemlib.h>
-#include <fixedwing_att_control_rate.h>
-#include <fixedwing_att_control_att.h>
+
+#include "fixedwing_att_control_rate.h"
+#include "fixedwing_att_control_att.h"
 
 /* Prototypes */
 /**
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c
index ba5b593e2..4eccc118c 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c
+++ b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c
@@ -33,11 +33,11 @@
  ****************************************************************************/
 /**
  * @file fixedwing_att_control_rate.c
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ *
  * Implementation of a fixed wing attitude controller.
  *
- * @author Thomas Gubler <thomasgubler@student.ethz.ch>
  */
-#include <fixedwing_att_control_rate.h>
 
 #include <nuttx/config.h>
 #include <stdio.h>
@@ -61,6 +61,8 @@
 #include <systemlib/geo/geo.h>
 #include <systemlib/systemlib.h>
 
+#include "fixedwing_att_control_rate.h"
+
 /*
  * Controller parameters, accessible via MAVLink
  *
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.h b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.h
index 500e3e197..500e3e197 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_rate.h
+++ b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.h
diff --git a/src/modules/fixedwing_att_control/module.mk b/src/modules/fixedwing_att_control/module.mk
new file mode 100644
index 000000000..fd1a8724a
--- /dev/null
+++ b/src/modules/fixedwing_att_control/module.mk
@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Fixedwing Attitude Control application
+#
+
+MODULE_COMMAND	= fixedwing_att_control
+
+SRCS		= fixedwing_att_control_main.c \
+		  fixedwing_att_control_att.c \
+		  fixedwing_att_control_rate.c
diff --git a/apps/examples/control_demo/control_demo.cpp b/src/modules/fixedwing_backside/fixedwing_backside_main.cpp
index e609f2f4b..e21990c92 100644
--- a/apps/examples/control_demo/control_demo.cpp
+++ b/src/modules/fixedwing_backside/fixedwing_backside_main.cpp
@@ -1,7 +1,7 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Example User <mail@example.com>
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Author: James Goppert
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -33,8 +33,10 @@
  ****************************************************************************/
 
 /**
- * @file control_demo.cpp
- * Demonstration of control library
+ * @file fixedwing_backside_main.cpp
+ * @author James Goppert
+ *
+ * Fixedwing backside controller using control library
  */
 
 #include <nuttx/config.h>
@@ -55,7 +57,7 @@ static int deamon_task;             /**< Handle of deamon task / thread */
 /**
  * Deamon management function.
  */
-extern "C" __EXPORT int control_demo_main(int argc, char *argv[]);
+extern "C" __EXPORT int fixedwing_backside_main(int argc, char *argv[]);
 
 /**
  * Mainloop of deamon.
@@ -90,7 +92,7 @@ usage(const char *reason)
  * The actual stack size should be set in the call
  * to task_create().
  */
-int control_demo_main(int argc, char *argv[])
+int fixedwing_backside_main(int argc, char *argv[])
 {
 
 	if (argc < 1)
diff --git a/src/modules/fixedwing_backside/module.mk b/src/modules/fixedwing_backside/module.mk
new file mode 100644
index 000000000..a9233288b
--- /dev/null
+++ b/src/modules/fixedwing_backside/module.mk
@@ -0,0 +1,40 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Fixedwing backside controller
+#
+
+MODULE_COMMAND	= fixedwing_backside
+
+SRCS		= fixedwing_backside_main.cpp
diff --git a/apps/examples/control_demo/params.c b/src/modules/fixedwing_backside/params.c
index 428b779b1..428b779b1 100644
--- a/apps/examples/control_demo/params.c
+++ b/src/modules/fixedwing_backside/params.c
diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c
index 71c78f5b8..71c78f5b8 100644
--- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
+++ b/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c
diff --git a/apps/systemcmds/delay_test/Makefile b/src/modules/fixedwing_pos_control/module.mk
index d30fcba27..b976377e9 100644
--- a/apps/systemcmds/delay_test/Makefile
+++ b/src/modules/fixedwing_pos_control/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -32,11 +32,9 @@
 ############################################################################
 
 #
-# Delay test
+# Fixedwing PositionControl application
 #
 
-APPNAME		 = delay_test
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
+MODULE_COMMAND	= fixedwing_pos_control
 
-include $(APPDIR)/mk/app.mk
+SRCS		= fixedwing_pos_control_main.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c
index 7070274da..7070274da 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c
index 6d6a4b6d8..6d6a4b6d8 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c
index d9e3e7aa3..d9e3e7aa3 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c
index 258ecef2c..258ecef2c 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c
index 0961dd1db..0961dd1db 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c
index 788b2ebb2..788b2ebb2 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c
index c5b18711d..c5b18711d 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c
index 5407c006f..5407c006f 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c
index 6f7fbcebf..6f7fbcebf 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c
index 24611a05f..24611a05f 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c
index 5e4031338..5e4031338 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c
index ddf2d0c24..ddf2d0c24 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c
index 88a458b40..88a458b40 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c
index 99d44a4ba..99d44a4ba 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c
index 37ec8e25e..37ec8e25e 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c
index 14ee23ea6..14ee23ea6 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c
index 4f4d423ac..4f4d423ac 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c
index 21d58d1a4..21d58d1a4 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c
index fc28c3621..fc28c3621 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c
index 601fb7393..601fb7393 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c
index 4bdf06ee8..4bdf06ee8 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c
index f8158f066..f8158f066 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c
index 8b03ee372..8b03ee372 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c
index 56643816f..56643816f 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c
index b77144a3e..b77144a3e 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c
index 9e79202fe..9e79202fe 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q31.c
index 8e9b50e72..8e9b50e72 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q7.c
index 76c35e656..76c35e656 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q7.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q7.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q15.c
index b8301e63d..b8301e63d 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q31.c
index 561225a89..561225a89 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q7.c
index 6dfd25f65..6dfd25f65 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q7.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q7.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_f32.c
index 4a660db49..4a660db49 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q15.c
index d8cc12220..d8cc12220 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q31.c
index 34642f32e..34642f32e 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q7.c
index adbc7d0c0..adbc7d0c0 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q7.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q7.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/CommonTables/arm_common_tables.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/CommonTables/arm_common_tables.c
index bf7ab3bed..bf7ab3bed 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/CommonTables/arm_common_tables.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/CommonTables/arm_common_tables.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_f32.c
index 31bbaa7a8..31bbaa7a8 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q15.c
index c5a370315..c5a370315 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q31.c
index 7475962d5..7475962d5 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_f32.c
index 4f265d690..4f265d690 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q15.c
index 33df820a5..33df820a5 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q31.c
index d371dff8b..d371dff8b 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c
index 59bbc2742..59bbc2742 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q15.c
index 122ca8bc1..122ca8bc1 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q31.c
index 59384f5dc..59384f5dc 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_f32.c
index 7350fd1c9..7350fd1c9 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q15.c
index 623229b8f..623229b8f 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q31.c
index d45ccfab2..d45ccfab2 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_f32.c
index 2ec9ee862..2ec9ee862 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q15.c
index 0219aea48..0219aea48 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q31.c
index 13fc060a2..13fc060a2 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_f32.c
index 7a5bdf9cd..7a5bdf9cd 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q15.c
index a44158c4f..a44158c4f 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q31.c
index b286acdb6..b286acdb6 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c
index 37e48f609..37e48f609 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c
index 1816bc9aa..1816bc9aa 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c
index da40ce973..da40ce973 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c
index 491ad5268..491ad5268 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c
index dc0078746..dc0078746 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c
index b1ff753af..b1ff753af 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c
index 1679a780c..1679a780c 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c
index e22d25e53..e22d25e53 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_f32.c
index bee758bff..bee758bff 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q15.c
index 0edf68b89..0edf68b89 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c
index 1326215fe..1326215fe 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_f32.c
index bfe58d5c8..bfe58d5c8 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_q15.c
index b53ca3ecc..b53ca3ecc 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_q31.c
index 336796b5c..336796b5c 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q15.c
index 0a6d6a53a..0a6d6a53a 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c
index 2a3b7ac18..2a3b7ac18 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_init_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_init_q31.c
index a6745c0cd..a6745c0cd 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_init_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_init_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_q31.c
index 82d6164ee..82d6164ee 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_f32.c
index ee20dfeec..ee20dfeec 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q15.c
index 29afffa03..29afffa03 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q31.c
index 0a479fe6b..0a479fe6b 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_f32.c
index d50b69f3c..d50b69f3c 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q15.c
index d5fda28ac..d5fda28ac 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q31.c
index dbbb8aa2b..dbbb8aa2b 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q15.c
index 484cd85e8..484cd85e8 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q31.c
index 5626bdd1c..5626bdd1c 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_f32.c
index a8cb0c98c..a8cb0c98c 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_init_f32.c
index e4225d008..e4225d008 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_init_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_init_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_f32.c
index 48dd45f2b..48dd45f2b 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_opt_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_opt_q15.c
index 3e85a25ba..3e85a25ba 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_opt_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_opt_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q15.c
index e21be3523..e21be3523 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q31.c
index e675c11ce..e675c11ce 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_opt_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_opt_q15.c
index 70b4125d9..70b4125d9 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_opt_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_opt_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_opt_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_opt_q7.c
index 7fe9f55cf..7fe9f55cf 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_opt_q7.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_opt_q7.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_f32.c
index 58f572735..58f572735 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_opt_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_opt_q15.c
index 25b3ba8c3..25b3ba8c3 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_opt_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_opt_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q15.c
index 98216bb6a..98216bb6a 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q31.c
index 17902f593..17902f593 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_opt_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_opt_q15.c
index fe14f9fd3..fe14f9fd3 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_opt_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_opt_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_opt_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_opt_q7.c
index 513d89d87..513d89d87 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_opt_q7.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_opt_q7.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q15.c
index 8c7ed5f86..8c7ed5f86 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q31.c
index 16a060648..16a060648 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q7.c
index ed205838e..ed205838e 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q7.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q7.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q15.c
index 1907719e7..1907719e7 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q31.c
index 769b95abb..769b95abb 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q7.c
index eb78fd533..eb78fd533 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q7.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q7.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_f32.c
index 6a99eafc1..6a99eafc1 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_opt_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_opt_q15.c
index a99225a2f..a99225a2f 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_opt_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_opt_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q15.c
index 0c79bc896..0c79bc896 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q31.c
index 628fd3ea5..628fd3ea5 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_opt_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_opt_q15.c
index cc33b54f5..cc33b54f5 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_opt_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_opt_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_opt_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_opt_q7.c
index 6749b01b3..6749b01b3 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_opt_q7.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_opt_q7.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q15.c
index fc4134b7b..fc4134b7b 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q31.c
index c81f8600d..c81f8600d 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q7.c
index e03e4997b..e03e4997b 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q7.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q7.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_f32.c
index 1546f407d..1546f407d 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q15.c
index 96f50e6f2..96f50e6f2 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q31.c
index a43fd0b4c..a43fd0b4c 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_f32.c
index b655a6be6..b655a6be6 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q15.c
index 1a1fee8a2..1a1fee8a2 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q31.c
index e2ac8165e..e2ac8165e 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q15.c
index 28b5f13dd..28b5f13dd 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q31.c
index 59c0fed7f..59c0fed7f 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_f32.c
index 7f951f86b..7f951f86b 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q15.c
index 59abff2f5..59abff2f5 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q31.c
index e384ff973..e384ff973 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_f32.c
index aaeddf5f6..aaeddf5f6 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q15.c
index 02bb33623..02bb33623 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q31.c
index 997a78427..997a78427 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q7.c
index 65a49a823..65a49a823 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q7.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q7.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_f32.c
index c966a0ced..c966a0ced 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_f32.c
index b19347264..b19347264 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q15.c
index b344fc785..b344fc785 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q31.c
index f0383b8e9..f0383b8e9 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q15.c
index d17d8d803..d17d8d803 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q31.c
index 689b4d337..689b4d337 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_f32.c
index 3745ffb6a..3745ffb6a 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_f32.c
index a53ae92e2..a53ae92e2 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q15.c
index 8db498509..8db498509 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q31.c
index 035c5e056..035c5e056 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q15.c
index abfb33cf2..abfb33cf2 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q31.c
index 9fb46459d..9fb46459d 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q15.c
index 368014f43..368014f43 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q31.c
index b3b84ec51..b3b84ec51 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q7.c
index 624afa130..624afa130 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q7.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q7.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_f32.c
index e969d5c84..e969d5c84 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_f32.c
index 2934352d0..2934352d0 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q15.c
index 47a116e95..47a116e95 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q31.c
index 360a219b2..360a219b2 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q7.c
index b400297ca..b400297ca 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q7.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q7.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q15.c
index 016f83345..016f83345 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q31.c
index 3d2f6d402..3d2f6d402 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q7.c
index ace5d0703..ace5d0703 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q7.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q7.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_f32.c
index 074605553..074605553 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_f32.c
index 89c00c24d..89c00c24d 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q15.c
index 7dac99fca..7dac99fca 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q31.c
index 73b18a597..73b18a597 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q15.c
index 5f0f891d1..5f0f891d1 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q31.c
index adfd4dfb5..adfd4dfb5 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_f32.c
index 90fa8ae1e..90fa8ae1e 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_f32.c
index a2f51240a..a2f51240a 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q15.c
index 8f42949a6..8f42949a6 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q31.c
index 58edb659b..58edb659b 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_f32.c
index b2ac45206..b2ac45206 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_f32.c
index 3d31cfb25..3d31cfb25 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q15.c
index a1cf1b001..a1cf1b001 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q31.c
index a2fae7b38..a2fae7b38 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q15.c
index a1229a203..a1229a203 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q31.c
index 791a8637c..791a8637c 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_q15.c
index 91237c12d..91237c12d 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_q31.c
index c43d55d1d..c43d55d1d 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_f32.c
index 09099ccb8..09099ccb8 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q15.c
index 4bfc87862..4bfc87862 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q31.c
index 1f7be21c5..1f7be21c5 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_f32.c
index 9ffc96ee3..9ffc96ee3 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q15.c
index 2bada7fed..2bada7fed 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q31.c
index 8828c2d2e..8828c2d2e 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_inverse_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_inverse_f32.c
index f346916e0..f346916e0 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_inverse_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_inverse_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_f32.c
index a2f513628..a2f513628 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q15.c
index a88e3cdd1..a88e3cdd1 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q31.c
index 7fdbb1cb8..7fdbb1cb8 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q15.c
index b48d204ed..b48d204ed 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q31.c
index eb7652204..eb7652204 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_f32.c
index e64cfd1d1..e64cfd1d1 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q15.c
index 58011254c..58011254c 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q31.c
index e5e124125..e5e124125 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_f32.c
index 3544d8e82..3544d8e82 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q15.c
index 1857fd837..1857fd837 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q31.c
index 279fd7f7c..279fd7f7c 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_f32.c
index 235028f5a..235028f5a 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q15.c
index be9c78e00..be9c78e00 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q31.c
index 253a923d1..253a923d1 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_f32.c
index afd964885..afd964885 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q15.c
index 939b5236f..939b5236f 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q31.c
index 18e757297..18e757297 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q7.c
index 110a8fe5f..110a8fe5f 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q7.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q7.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_f32.c
index 7823d746c..7823d746c 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q15.c
index 49ec1e62e..49ec1e62e 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q31.c
index 88a5de299..88a5de299 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q7.c
index a34c011bc..a34c011bc 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q7.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q7.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_f32.c
index dc2fdf624..dc2fdf624 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q15.c
index 35b67bb1e..35b67bb1e 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q31.c
index 4a9befc75..4a9befc75 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q7.c
index aaf8ad9ff..aaf8ad9ff 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q7.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q7.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_f32.c
index 5ee0060d8..5ee0060d8 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q15.c
index aed06a17a..aed06a17a 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q31.c
index 43f03f757..43f03f757 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q7.c
index 5cb99b4c2..5cb99b4c2 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q7.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q7.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_f32.c
index 573896ed4..573896ed4 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_q15.c
index 491c652e7..491c652e7 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_q31.c
index 54038eb12..54038eb12 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_f32.c
index 6442d5c29..6442d5c29 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_q15.c
index 2d1a49a50..2d1a49a50 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_q31.c
index 45bec01a1..45bec01a1 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_f32.c
index 2adcfb443..2adcfb443 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_q15.c
index 08dbc6587..08dbc6587 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_q31.c
index 13d6c15cb..13d6c15cb 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_f32.c
index 619c1577a..619c1577a 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q15.c
index 00be9dc0b..00be9dc0b 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q31.c
index 7ab0849f6..7ab0849f6 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q7.c
index 425885753..425885753 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q7.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q7.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_f32.c
index 439e60db0..439e60db0 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q15.c
index 8f60d3b4e..8f60d3b4e 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q31.c
index 35565c3cf..35565c3cf 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q7.c
index 481d4c8f7..481d4c8f7 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q7.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q7.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q15.c
index 1537b93ab..1537b93ab 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q31.c
index 3ab52b9ff..3ab52b9ff 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q7.c
index dea14c6a1..dea14c6a1 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q7.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q7.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_float.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_float.c
index ce51e9a39..ce51e9a39 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_float.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_float.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_q31.c
index a0f66c29e..a0f66c29e 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_q7.c
index 87fe63d9e..87fe63d9e 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_q7.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_q7.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_float.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_float.c
index 94deec9a1..94deec9a1 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_float.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_float.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_q15.c
index ba79f85a1..ba79f85a1 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_q7.c
index afc8fdbed..afc8fdbed 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_q7.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_q7.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_float.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_float.c
index be4ac5fe3..be4ac5fe3 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_float.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_float.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_q15.c
index 019ca4815..019ca4815 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_q31.c
index bbbcc6f4a..bbbcc6f4a 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_bitreversal.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_bitreversal.c
index 3da790ebb..3da790ebb 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_bitreversal.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_bitreversal.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_f32.c
index 274b69928..274b69928 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_f32.c
index a41ed25d2..a41ed25d2 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_q15.c
index 86aa149b2..86aa149b2 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_q31.c
index 29aa9a74b..29aa9a74b 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_q15.c
index 00c7420cf..00c7420cf 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_q31.c
index dd4b9e6b2..dd4b9e6b2 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_f32.c
index d51e9830b..d51e9830b 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_f32.c
index f354e1dde..f354e1dde 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q15.c
index 5ace3483d..5ace3483d 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q31.c
index 6614994f7..6614994f7 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q15.c
index 01d476e6c..01d476e6c 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q31.c
index 3a5c523df..3a5c523df 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_f32.c
index fb79e3172..fb79e3172 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_f32.c
index b5f91ea32..b5f91ea32 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q15.c
index c6452fe98..c6452fe98 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q31.c
index 211cdadf3..211cdadf3 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_q15.c
index feaa2ae3c..feaa2ae3c 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_q31.c
index 887cfb385..887cfb385 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_f32.c
index 2043a4e0d..2043a4e0d 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_f32.c
index 7a54df6e2..7a54df6e2 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_f32.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_f32.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q15.c
index 50b9d994d..50b9d994d 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q31.c
index 400fe586c..400fe586c 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q31.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_q15.c
index c0c201277..c0c201277 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_q15.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_q15.c
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_q31.c
index afcb47041..afcb47041 100644
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_q31.c
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_q31.c
diff --git a/apps/mathlib/CMSIS/Device/ARM/ARMCM3/Include/ARMCM3.h b/src/modules/mathlib/CMSIS/Device/ARM/ARMCM3/Include/ARMCM3.h
index 8f39acd9d..8f39acd9d 100644
--- a/apps/mathlib/CMSIS/Device/ARM/ARMCM3/Include/ARMCM3.h
+++ b/src/modules/mathlib/CMSIS/Device/ARM/ARMCM3/Include/ARMCM3.h
diff --git a/apps/mathlib/CMSIS/Device/ARM/ARMCM4/Include/ARMCM4.h b/src/modules/mathlib/CMSIS/Device/ARM/ARMCM4/Include/ARMCM4.h
index 181b7e433..181b7e433 100644
--- a/apps/mathlib/CMSIS/Device/ARM/ARMCM4/Include/ARMCM4.h
+++ b/src/modules/mathlib/CMSIS/Device/ARM/ARMCM4/Include/ARMCM4.h
diff --git a/apps/mathlib/CMSIS/Include/arm_common_tables.h b/src/modules/mathlib/CMSIS/Include/arm_common_tables.h
index 5fd6ff4af..5fd6ff4af 100644
--- a/apps/mathlib/CMSIS/Include/arm_common_tables.h
+++ b/src/modules/mathlib/CMSIS/Include/arm_common_tables.h
diff --git a/apps/mathlib/CMSIS/Include/arm_math.h b/src/modules/mathlib/CMSIS/Include/arm_math.h
index f224d3eb0..f224d3eb0 100644
--- a/apps/mathlib/CMSIS/Include/arm_math.h
+++ b/src/modules/mathlib/CMSIS/Include/arm_math.h
diff --git a/apps/mathlib/CMSIS/Include/core_cm3.h b/src/modules/mathlib/CMSIS/Include/core_cm3.h
index 733d6be53..733d6be53 100644
--- a/apps/mathlib/CMSIS/Include/core_cm3.h
+++ b/src/modules/mathlib/CMSIS/Include/core_cm3.h
diff --git a/apps/mathlib/CMSIS/Include/core_cm4.h b/src/modules/mathlib/CMSIS/Include/core_cm4.h
index 5f3b7d619..5f3b7d619 100644
--- a/apps/mathlib/CMSIS/Include/core_cm4.h
+++ b/src/modules/mathlib/CMSIS/Include/core_cm4.h
diff --git a/apps/mathlib/CMSIS/Include/core_cm4_simd.h b/src/modules/mathlib/CMSIS/Include/core_cm4_simd.h
index b5140073f..b5140073f 100644
--- a/apps/mathlib/CMSIS/Include/core_cm4_simd.h
+++ b/src/modules/mathlib/CMSIS/Include/core_cm4_simd.h
diff --git a/apps/mathlib/CMSIS/Include/core_cmFunc.h b/src/modules/mathlib/CMSIS/Include/core_cmFunc.h
index adb07b5d3..adb07b5d3 100644
--- a/apps/mathlib/CMSIS/Include/core_cmFunc.h
+++ b/src/modules/mathlib/CMSIS/Include/core_cmFunc.h
diff --git a/apps/mathlib/CMSIS/Include/core_cmInstr.h b/src/modules/mathlib/CMSIS/Include/core_cmInstr.h
index 624c175fd..624c175fd 100644
--- a/apps/mathlib/CMSIS/Include/core_cmInstr.h
+++ b/src/modules/mathlib/CMSIS/Include/core_cmInstr.h
diff --git a/apps/mathlib/CMSIS/Makefile b/src/modules/mathlib/CMSIS/module.mk
index 9e28518bc..c676f3261 100644
--- a/apps/mathlib/CMSIS/Makefile
+++ b/src/modules/mathlib/CMSIS/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -38,10 +38,10 @@
 #
 # Find sources
 #
-DSPLIB_SRCDIR		:= $(dir $(lastword $(MAKEFILE_LIST)))
-CSRCS			:= $(wildcard $(DSPLIB_SRCDIR)/DSP_Lib/Source/*/*.c)
+DSPLIB_SRCDIR		:= $(PX4_MODULE_SRC)/modules/mathlib/CMSIS
+ABS_SRCS		:= $(wildcard $(DSPLIB_SRCDIR)/DSP_Lib/Source/*/*.c)
 
-INCLUDES		+= $(DSPLIB_SRCDIR)/Include \
+INCLUDE_DIRS		+= $(DSPLIB_SRCDIR)/Include \
 			   $(DSPLIB_SRCDIR)/Device/ARM/ARMCM4/Include \
 			   $(DSPLIB_SRCDIR)/Device/ARM/ARMCM3/Include
 
@@ -57,5 +57,3 @@ EXTRADEFINES		+= -Wno-unsuffixed-float-constants \
 # have anything we can use to mark exported symbols.
 #
 DEFAULT_VISIBILITY	 = YES
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/mathlib/math/Dcm.cpp b/src/modules/mathlib/math/Dcm.cpp
index df0f09b20..c3742e288 100644
--- a/apps/mathlib/math/Dcm.cpp
+++ b/src/modules/mathlib/math/Dcm.cpp
@@ -37,7 +37,7 @@
  * math direction cosine matrix
  */
 
-#include "math/test/test.hpp"
+#include <mathlib/math/test/test.hpp>
 
 #include "Dcm.hpp"
 #include "Quaternion.hpp"
diff --git a/apps/mathlib/math/Dcm.hpp b/src/modules/mathlib/math/Dcm.hpp
index 28d840b10..28d840b10 100644
--- a/apps/mathlib/math/Dcm.hpp
+++ b/src/modules/mathlib/math/Dcm.hpp
diff --git a/apps/mathlib/math/EulerAngles.cpp b/src/modules/mathlib/math/EulerAngles.cpp
index 2e96fef4c..e733d23bb 100644
--- a/apps/mathlib/math/EulerAngles.cpp
+++ b/src/modules/mathlib/math/EulerAngles.cpp
@@ -37,7 +37,7 @@
  * math vector
  */
 
-#include "math/test/test.hpp"
+#include "test/test.hpp"
 
 #include "EulerAngles.hpp"
 #include "Quaternion.hpp"
diff --git a/apps/mathlib/math/EulerAngles.hpp b/src/modules/mathlib/math/EulerAngles.hpp
index 399eecfa7..399eecfa7 100644
--- a/apps/mathlib/math/EulerAngles.hpp
+++ b/src/modules/mathlib/math/EulerAngles.hpp
diff --git a/apps/mathlib/math/Matrix.cpp b/src/modules/mathlib/math/Matrix.cpp
index 981732370..ebd1aeda3 100644
--- a/apps/mathlib/math/Matrix.cpp
+++ b/src/modules/mathlib/math/Matrix.cpp
@@ -37,7 +37,7 @@
  * matrix code
  */
 
-#include "math/test/test.hpp"
+#include "test/test.hpp"
 #include <math.h>
 
 #include "Matrix.hpp"
diff --git a/apps/mathlib/math/Matrix.hpp b/src/modules/mathlib/math/Matrix.hpp
index f19db15ec..f19db15ec 100644
--- a/apps/mathlib/math/Matrix.hpp
+++ b/src/modules/mathlib/math/Matrix.hpp
diff --git a/apps/mathlib/math/Quaternion.cpp b/src/modules/mathlib/math/Quaternion.cpp
index 78481b286..02fec4ca6 100644
--- a/apps/mathlib/math/Quaternion.cpp
+++ b/src/modules/mathlib/math/Quaternion.cpp
@@ -37,7 +37,7 @@
  * math vector
  */
 
-#include "math/test/test.hpp"
+#include "test/test.hpp"
 
 
 #include "Quaternion.hpp"
diff --git a/apps/mathlib/math/Quaternion.hpp b/src/modules/mathlib/math/Quaternion.hpp
index 4b4e959d8..4b4e959d8 100644
--- a/apps/mathlib/math/Quaternion.hpp
+++ b/src/modules/mathlib/math/Quaternion.hpp
diff --git a/apps/mathlib/math/Vector.cpp b/src/modules/mathlib/math/Vector.cpp
index d58e719db..35158a396 100644
--- a/apps/mathlib/math/Vector.cpp
+++ b/src/modules/mathlib/math/Vector.cpp
@@ -37,7 +37,7 @@
  * math vector
  */
 
-#include "math/test/test.hpp"
+#include "test/test.hpp"
 
 #include "Vector.hpp"
 
diff --git a/apps/mathlib/math/Vector.hpp b/src/modules/mathlib/math/Vector.hpp
index 73de793d5..73de793d5 100644
--- a/apps/mathlib/math/Vector.hpp
+++ b/src/modules/mathlib/math/Vector.hpp
diff --git a/apps/mathlib/math/Vector3.cpp b/src/modules/mathlib/math/Vector3.cpp
index 9c57506da..61fcc442f 100644
--- a/apps/mathlib/math/Vector3.cpp
+++ b/src/modules/mathlib/math/Vector3.cpp
@@ -37,7 +37,7 @@
  * math vector
  */
 
-#include "math/test/test.hpp"
+#include "test/test.hpp"
 
 #include "Vector3.hpp"
 
diff --git a/apps/mathlib/math/Vector3.hpp b/src/modules/mathlib/math/Vector3.hpp
index 8c36ac134..8c36ac134 100644
--- a/apps/mathlib/math/Vector3.hpp
+++ b/src/modules/mathlib/math/Vector3.hpp
diff --git a/apps/mathlib/math/arm/Matrix.cpp b/src/modules/mathlib/math/arm/Matrix.cpp
index 21661622a..21661622a 100644
--- a/apps/mathlib/math/arm/Matrix.cpp
+++ b/src/modules/mathlib/math/arm/Matrix.cpp
diff --git a/apps/mathlib/math/arm/Matrix.hpp b/src/modules/mathlib/math/arm/Matrix.hpp
index 715fd3a5e..715fd3a5e 100644
--- a/apps/mathlib/math/arm/Matrix.hpp
+++ b/src/modules/mathlib/math/arm/Matrix.hpp
diff --git a/apps/mathlib/math/arm/Vector.cpp b/src/modules/mathlib/math/arm/Vector.cpp
index 7ea6496bb..7ea6496bb 100644
--- a/apps/mathlib/math/arm/Vector.cpp
+++ b/src/modules/mathlib/math/arm/Vector.cpp
diff --git a/apps/mathlib/math/arm/Vector.hpp b/src/modules/mathlib/math/arm/Vector.hpp
index 58d51107d..58d51107d 100644
--- a/apps/mathlib/math/arm/Vector.hpp
+++ b/src/modules/mathlib/math/arm/Vector.hpp
diff --git a/apps/mathlib/math/generic/Matrix.cpp b/src/modules/mathlib/math/generic/Matrix.cpp
index 21661622a..21661622a 100644
--- a/apps/mathlib/math/generic/Matrix.cpp
+++ b/src/modules/mathlib/math/generic/Matrix.cpp
diff --git a/apps/mathlib/math/generic/Matrix.hpp b/src/modules/mathlib/math/generic/Matrix.hpp
index 5601a3447..5601a3447 100644
--- a/apps/mathlib/math/generic/Matrix.hpp
+++ b/src/modules/mathlib/math/generic/Matrix.hpp
diff --git a/apps/mathlib/math/generic/Vector.cpp b/src/modules/mathlib/math/generic/Vector.cpp
index 7ea6496bb..7ea6496bb 100644
--- a/apps/mathlib/math/generic/Vector.cpp
+++ b/src/modules/mathlib/math/generic/Vector.cpp
diff --git a/apps/mathlib/math/generic/Vector.hpp b/src/modules/mathlib/math/generic/Vector.hpp
index 1a7363779..1a7363779 100644
--- a/apps/mathlib/math/generic/Vector.hpp
+++ b/src/modules/mathlib/math/generic/Vector.hpp
diff --git a/apps/mathlib/math/nasa_rotation_def.pdf b/src/modules/mathlib/math/nasa_rotation_def.pdf
index eb67a4bfc..eb67a4bfc 100644
--- a/apps/mathlib/math/nasa_rotation_def.pdf
+++ b/src/modules/mathlib/math/nasa_rotation_def.pdf
diff --git a/apps/mathlib/math/test/test.cpp b/src/modules/mathlib/math/test/test.cpp
index f5db76d70..2fa2f7e7c 100644
--- a/apps/mathlib/math/test/test.cpp
+++ b/src/modules/mathlib/math/test/test.cpp
@@ -39,6 +39,7 @@
 
 #include <stdio.h>
 #include <math.h>
+#include <stdlib.h>
 
 #include "test.hpp"
 
diff --git a/apps/mathlib/math/test/test.hpp b/src/modules/mathlib/math/test/test.hpp
index 841c42144..2027bb827 100644
--- a/apps/mathlib/math/test/test.hpp
+++ b/src/modules/mathlib/math/test/test.hpp
@@ -39,9 +39,9 @@
 
 #pragma once
 
-#include <assert.h>
-#include <time.h>
-#include <stdlib.h>
+//#include <assert.h>
+//#include <time.h>
+//#include <stdlib.h>
 
 bool equal(float a, float b, float eps = 1e-5);
 void float2SigExp(
diff --git a/apps/mathlib/math/test_math.sce b/src/modules/mathlib/math/test_math.sce
index c3fba4729..c3fba4729 100644
--- a/apps/mathlib/math/test_math.sce
+++ b/src/modules/mathlib/math/test_math.sce
diff --git a/apps/mathlib/mathlib.h b/src/modules/mathlib/mathlib.h
index b919d53db..b919d53db 100644
--- a/apps/mathlib/mathlib.h
+++ b/src/modules/mathlib/mathlib.h
diff --git a/apps/mathlib/Makefile b/src/modules/mathlib/module.mk
index 7eebd6ae0..bcdb2afe5 100644
--- a/apps/mathlib/Makefile
+++ b/src/modules/mathlib/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -34,7 +34,7 @@
 #
 # Math library
 #
-CXXSRCS		 = math/test/test.cpp \
+SRCS		 = math/test/test.cpp \
 		   math/Vector.cpp \
 		   math/Vector3.cpp \
 		   math/EulerAngles.cpp \
@@ -50,13 +50,11 @@ APP_MAKEFILE	:= $(lastword $(MAKEFILE_LIST))
 -include $(TOPDIR)/.config
 
 ifeq ($(CONFIG_ARCH_CORTEXM4)$(CONFIG_ARCH_FPU),yy)
-INCLUDES	+= math/arm
-CXXSRCS		+= math/arm/Vector.cpp \
+INCLUDE_DIRS	+= math/arm
+SRCS		+= math/arm/Vector.cpp \
 		   math/arm/Matrix.cpp
 else
-INCLUDES	+= math/generic
-CXXSRCS		+= math/generic/Vector.cpp \
-		   math/generic/Matrix.cpp
+#INCLUDE_DIRS	+= math/generic
+#SRCS		+= math/generic/Vector.cpp \
+#		   math/generic/Matrix.cpp
 endif
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/mavlink/.gitignore b/src/modules/mavlink/.gitignore
index a02827195..a02827195 100644
--- a/apps/mavlink/.gitignore
+++ b/src/modules/mavlink/.gitignore
diff --git a/apps/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c
index 644b779af..de78cd139 100644
--- a/apps/mavlink/mavlink.c
+++ b/src/modules/mavlink/mavlink.c
@@ -64,9 +64,9 @@
 #include <systemlib/param/param.h>
 #include <systemlib/systemlib.h>
 #include <systemlib/err.h>
+#include <mavlink/mavlink_log.h>
 
 #include "waypoints.h"
-#include "mavlink_log.h"
 #include "orb_topics.h"
 #include "missionlib.h"
 #include "mavlink_hil.h"
diff --git a/apps/mavlink/mavlink_bridge_header.h b/src/modules/mavlink/mavlink_bridge_header.h
index 270ec1727..0010bb341 100644
--- a/apps/mavlink/mavlink_bridge_header.h
+++ b/src/modules/mavlink/mavlink_bridge_header.h
@@ -51,7 +51,7 @@
 #define MAVLINK_GET_CHANNEL_BUFFER mavlink_get_channel_buffer
 #define MAVLINK_GET_CHANNEL_STATUS mavlink_get_channel_status
 
-#include "v1.0/mavlink_types.h"
+#include <v1.0/mavlink_types.h>
 #include <unistd.h>
 
 
diff --git a/apps/mavlink/mavlink_hil.h b/src/modules/mavlink/mavlink_hil.h
index 8c7a5b514..8c7a5b514 100644
--- a/apps/mavlink/mavlink_hil.h
+++ b/src/modules/mavlink/mavlink_hil.h
diff --git a/apps/mavlink/mavlink_log.c b/src/modules/mavlink/mavlink_log.c
index ed65fb883..fa974dc0b 100644
--- a/apps/mavlink/mavlink_log.c
+++ b/src/modules/mavlink/mavlink_log.c
@@ -42,7 +42,7 @@
 #include <string.h>
 #include <stdlib.h>
 
-#include "mavlink_log.h"
+#include <mavlink/mavlink_log.h>
 
 void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size)
 {
diff --git a/apps/mavlink/mavlink_parameters.c b/src/modules/mavlink/mavlink_parameters.c
index 819f3441b..819f3441b 100644
--- a/apps/mavlink/mavlink_parameters.c
+++ b/src/modules/mavlink/mavlink_parameters.c
diff --git a/apps/mavlink/mavlink_parameters.h b/src/modules/mavlink/mavlink_parameters.h
index b1e38bcc8..b1e38bcc8 100644
--- a/apps/mavlink/mavlink_parameters.h
+++ b/src/modules/mavlink/mavlink_parameters.h
diff --git a/apps/mavlink/mavlink_receiver.c b/src/modules/mavlink/mavlink_receiver.c
index a30f0bf3c..e62e4dcc4 100644
--- a/apps/mavlink/mavlink_receiver.c
+++ b/src/modules/mavlink/mavlink_receiver.c
@@ -64,9 +64,9 @@
 
 #include <systemlib/param/param.h>
 #include <systemlib/systemlib.h>
+#include <mavlink/mavlink_log.h>
 
 #include "waypoints.h"
-#include "mavlink_log.h"
 #include "orb_topics.h"
 #include "missionlib.h"
 #include "mavlink_hil.h"
@@ -312,7 +312,7 @@ handle_message(mavlink_message_t *msg)
 		static const float ground_press = 1013.25f; // mbar
 		static const float ground_tempC = 21.0f;
 		static const float ground_alt = 0.0f;
-		static const float T0 = 273.15;
+		static const float T0 = 273.15f;
 		static const float R = 287.05f;
 		static const float g = 9.806f;
 
@@ -477,25 +477,27 @@ handle_message(mavlink_message_t *msg)
 
 			/* gps */
 			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_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 = 5.0f;
 			hil_gps.p_variance_m = hil_gps.eph_m * hil_gps.eph_m;
 			hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s
 
-			/* gps.cog is in degrees 0..360 * 100, heading is -PI..PI */
-			float heading_rad = gps.cog * M_DEG_TO_RAD_F * 1e-2f - M_PI_F;
+			/* gps.cog is in degrees 0..360 * 100, heading is -PI..+PI */
+			float heading_rad = gps.cog * M_DEG_TO_RAD_F * 1e-2f;
+			/* go back to -PI..PI */
+			if (heading_rad > M_PI_F)
+				heading_rad -= 2.0f * M_PI_F;
 			hil_gps.vel_n_m_s = (float)gps.vel * 1e-2f * cosf(heading_rad);
 			hil_gps.vel_e_m_s = (float)gps.vel * 1e-2f * sinf(heading_rad);
 			hil_gps.vel_d_m_s = 0.0f;
-			/* COG (course over ground) is speced as 0..360 degrees (compass) */
-			hil_gps.cog_rad = heading_rad + M_PI_F; // from deg*100 to rad
+			hil_gps.vel_ned_valid = true;
+			/* COG (course over ground) is speced as -PI..+PI */
+			hil_gps.cog_rad = heading_rad;
 			hil_gps.fix_type = gps.fix_type;
 			hil_gps.satellites_visible = gps.satellites_visible;
 
diff --git a/apps/mavlink/missionlib.c b/src/modules/mavlink/missionlib.c
index 8064febc4..d369e05ff 100644
--- a/apps/mavlink/missionlib.c
+++ b/src/modules/mavlink/missionlib.c
@@ -62,9 +62,9 @@
 
 #include <systemlib/param/param.h>
 #include <systemlib/systemlib.h>
+#include <mavlink/mavlink_log.h>
 
 #include "waypoints.h"
-#include "mavlink_log.h"
 #include "orb_topics.h"
 #include "missionlib.h"
 #include "mavlink_hil.h"
diff --git a/apps/mavlink/missionlib.h b/src/modules/mavlink/missionlib.h
index c2ca735b3..c2ca735b3 100644
--- a/apps/mavlink/missionlib.h
+++ b/src/modules/mavlink/missionlib.h
diff --git a/src/modules/mavlink/module.mk b/src/modules/mavlink/module.mk
new file mode 100644
index 000000000..cbf08aeb2
--- /dev/null
+++ b/src/modules/mavlink/module.mk
@@ -0,0 +1,47 @@
+############################################################################
+#
+#   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# MAVLink protocol to uORB interface process
+#
+
+MODULE_COMMAND	 = mavlink
+SRCS		 += mavlink.c \
+			   missionlib.c \
+			   mavlink_parameters.c \
+			   mavlink_log.c \
+			   mavlink_receiver.c \
+			   orb_listener.c \
+			   waypoints.c
+
+INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink
diff --git a/apps/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c
index 1dd3fc2d8..295cd5e28 100644
--- a/apps/mavlink/orb_listener.c
+++ b/src/modules/mavlink/orb_listener.c
@@ -56,8 +56,9 @@
 #include <stdlib.h>
 #include <poll.h>
 
+#include <mavlink/mavlink_log.h>
+
 #include "waypoints.h"
-#include "mavlink_log.h"
 #include "orb_topics.h"
 #include "missionlib.h"
 #include "mavlink_hil.h"
@@ -229,6 +230,13 @@ l_vehicle_gps_position(const struct listener *l)
 	/* copy gps data into local buffer */
 	orb_copy(ORB_ID(vehicle_gps_position), mavlink_subs.gps_sub, &gps);
 
+	/* GPS COG is 0..2PI in degrees * 1e2 */
+	float cog_deg = gps.cog_rad;
+	if (cog_deg > M_PI_F)
+		cog_deg -= 2.0f * M_PI_F;
+	cog_deg *= M_RAD_TO_DEG_F;
+
+
 	/* GPS position */
 	mavlink_msg_gps_raw_int_send(MAVLINK_COMM_0,
 				     gps.timestamp_position,
@@ -236,13 +244,14 @@ l_vehicle_gps_position(const struct listener *l)
 				     gps.lat,
 				     gps.lon,
 				     gps.alt,
-				     (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.eph_m * 1e2f, // from m to cm
+				     gps.epv_m * 1e2f, // from m to cm
+				     gps.vel_m_s * 1e2f, // from m/s to cm/s
+				     cog_deg * 1e2f, // from rad to deg * 100
 				     gps.satellites_visible);
 
-	if (gps.satellite_info_available && (gps_counter % 4 == 0)) {
+	/* update SAT info every 10 seconds */
+	if (gps.satellite_info_available && (gps_counter % 50 == 0)) {
 		mavlink_msg_gps_status_send(MAVLINK_COMM_0,
 					    gps.satellites_visible,
 					    gps.satellite_prn,
diff --git a/apps/mavlink/orb_topics.h b/src/modules/mavlink/orb_topics.h
index d61cd43dc..d61cd43dc 100644
--- a/apps/mavlink/orb_topics.h
+++ b/src/modules/mavlink/orb_topics.h
diff --git a/apps/mavlink/util.h b/src/modules/mavlink/util.h
index a4ff06a88..a4ff06a88 100644
--- a/apps/mavlink/util.h
+++ b/src/modules/mavlink/util.h
diff --git a/apps/mavlink/waypoints.c b/src/modules/mavlink/waypoints.c
index a131b143b..a131b143b 100644
--- a/apps/mavlink/waypoints.c
+++ b/src/modules/mavlink/waypoints.c
diff --git a/apps/mavlink/waypoints.h b/src/modules/mavlink/waypoints.h
index c32ab32e5..c32ab32e5 100644
--- a/apps/mavlink/waypoints.h
+++ b/src/modules/mavlink/waypoints.h
diff --git a/apps/mavlink_onboard/mavlink.c b/src/modules/mavlink_onboard/mavlink.c
index 5a2685560..5a2685560 100644
--- a/apps/mavlink_onboard/mavlink.c
+++ b/src/modules/mavlink_onboard/mavlink.c
diff --git a/apps/mavlink_onboard/mavlink_bridge_header.h b/src/modules/mavlink_onboard/mavlink_bridge_header.h
index bf7c5354c..3ad3bb617 100644
--- a/apps/mavlink_onboard/mavlink_bridge_header.h
+++ b/src/modules/mavlink_onboard/mavlink_bridge_header.h
@@ -51,7 +51,7 @@
 #define MAVLINK_GET_CHANNEL_BUFFER mavlink_get_channel_buffer
 #define MAVLINK_GET_CHANNEL_STATUS mavlink_get_channel_status
 
-#include "v1.0/mavlink_types.h"
+#include <v1.0/mavlink_types.h>
 #include <unistd.h>
 
 
diff --git a/apps/mavlink_onboard/mavlink_receiver.c b/src/modules/mavlink_onboard/mavlink_receiver.c
index 0acbea675..0acbea675 100644
--- a/apps/mavlink_onboard/mavlink_receiver.c
+++ b/src/modules/mavlink_onboard/mavlink_receiver.c
diff --git a/src/modules/mavlink_onboard/module.mk b/src/modules/mavlink_onboard/module.mk
new file mode 100644
index 000000000..a7a4980fa
--- /dev/null
+++ b/src/modules/mavlink_onboard/module.mk
@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# MAVLink protocol to uORB interface process (XXX hack for onboard use)
+#
+
+MODULE_COMMAND	 = mavlink_onboard
+SRCS		 = mavlink.c \
+		   mavlink_receiver.c
+
+INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink
diff --git a/apps/mavlink_onboard/orb_topics.h b/src/modules/mavlink_onboard/orb_topics.h
index f18f56243..f18f56243 100644
--- a/apps/mavlink_onboard/orb_topics.h
+++ b/src/modules/mavlink_onboard/orb_topics.h
diff --git a/apps/mavlink_onboard/util.h b/src/modules/mavlink_onboard/util.h
index 38a4db372..38a4db372 100644
--- a/apps/mavlink_onboard/util.h
+++ b/src/modules/mavlink_onboard/util.h
diff --git a/src/modules/multirotor_att_control/module.mk b/src/modules/multirotor_att_control/module.mk
new file mode 100755
index 000000000..7569e1c7e
--- /dev/null
+++ b/src/modules/multirotor_att_control/module.mk
@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Build multirotor attitude controller
+#
+
+MODULE_COMMAND	= multirotor_att_control
+
+SRCS		= multirotor_att_control_main.c \
+		  multirotor_attitude_control.c \
+		  multirotor_rate_control.c
diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/src/modules/multirotor_att_control/multirotor_att_control_main.c
index d94c0a69c..d94c0a69c 100644
--- a/apps/multirotor_att_control/multirotor_att_control_main.c
+++ b/src/modules/multirotor_att_control/multirotor_att_control_main.c
diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/src/modules/multirotor_att_control/multirotor_attitude_control.c
index 76dbb36d3..76dbb36d3 100644
--- a/apps/multirotor_att_control/multirotor_attitude_control.c
+++ b/src/modules/multirotor_att_control/multirotor_attitude_control.c
diff --git a/apps/multirotor_att_control/multirotor_attitude_control.h b/src/modules/multirotor_att_control/multirotor_attitude_control.h
index 2cf83e443..2cf83e443 100644
--- a/apps/multirotor_att_control/multirotor_attitude_control.h
+++ b/src/modules/multirotor_att_control/multirotor_attitude_control.h
diff --git a/apps/multirotor_att_control/multirotor_rate_control.c b/src/modules/multirotor_att_control/multirotor_rate_control.c
index deba1ac03..deba1ac03 100644
--- a/apps/multirotor_att_control/multirotor_rate_control.c
+++ b/src/modules/multirotor_att_control/multirotor_rate_control.c
diff --git a/apps/multirotor_att_control/multirotor_rate_control.h b/src/modules/multirotor_att_control/multirotor_rate_control.h
index 03dec317a..03dec317a 100644
--- a/apps/multirotor_att_control/multirotor_rate_control.h
+++ b/src/modules/multirotor_att_control/multirotor_rate_control.h
diff --git a/apps/ardrone_interface/Makefile b/src/modules/multirotor_pos_control/module.mk
index fea96082f..d04847745 100644
--- a/apps/ardrone_interface/Makefile
+++ b/src/modules/multirotor_pos_control/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -32,11 +32,10 @@
 ############################################################################
 
 #
-# Makefile to build ardrone interface
+# Build multirotor position control
 #
 
-APPNAME		 = ardrone_interface
-PRIORITY	 = SCHED_PRIORITY_MAX - 15
-STACKSIZE	 = 2048
+MODULE_COMMAND	= multirotor_pos_control
 
-include $(APPDIR)/mk/app.mk
+SRCS		= multirotor_pos_control.c \
+		  multirotor_pos_control_params.c
diff --git a/apps/multirotor_pos_control/multirotor_pos_control.c b/src/modules/multirotor_pos_control/multirotor_pos_control.c
index 7b8d83aa8..7b8d83aa8 100644
--- a/apps/multirotor_pos_control/multirotor_pos_control.c
+++ b/src/modules/multirotor_pos_control/multirotor_pos_control.c
diff --git a/apps/multirotor_pos_control/multirotor_pos_control_params.c b/src/modules/multirotor_pos_control/multirotor_pos_control_params.c
index 6b73dc405..6b73dc405 100644
--- a/apps/multirotor_pos_control/multirotor_pos_control_params.c
+++ b/src/modules/multirotor_pos_control/multirotor_pos_control_params.c
diff --git a/apps/multirotor_pos_control/multirotor_pos_control_params.h b/src/modules/multirotor_pos_control/multirotor_pos_control_params.h
index 274f6c22a..274f6c22a 100644
--- a/apps/multirotor_pos_control/multirotor_pos_control_params.h
+++ b/src/modules/multirotor_pos_control/multirotor_pos_control_params.h
diff --git a/apps/multirotor_pos_control/position_control.c b/src/modules/multirotor_pos_control/position_control.c
index 9c53a5bf6..9c53a5bf6 100644
--- a/apps/multirotor_pos_control/position_control.c
+++ b/src/modules/multirotor_pos_control/position_control.c
diff --git a/apps/multirotor_pos_control/position_control.h b/src/modules/multirotor_pos_control/position_control.h
index 2144ebc34..2144ebc34 100644
--- a/apps/multirotor_pos_control/position_control.h
+++ b/src/modules/multirotor_pos_control/position_control.h
diff --git a/apps/position_estimator/Makefile b/src/modules/position_estimator/module.mk
index cc5072152..f64095d9d 100644
--- a/apps/position_estimator/Makefile
+++ b/src/modules/position_estimator/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -35,10 +35,10 @@
 # Makefile to build the position estimator
 #
 
-APPNAME		 = position_estimator
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 4096
+MODULE_COMMAND		= position_estimator
 
-CSRCS		 = position_estimator_main.c
+# XXX this should be converted to a deamon, its a pretty bad example app
+MODULE_PRIORITY	 	= SCHED_PRIORITY_DEFAULT
+MODULE_STACKSIZE	= 4096
 
-include $(APPDIR)/mk/app.mk
+SRCS		 	= position_estimator_main.c
diff --git a/apps/position_estimator/position_estimator_main.c b/src/modules/position_estimator/position_estimator_main.c
index e84945299..e84945299 100644
--- a/apps/position_estimator/position_estimator_main.c
+++ b/src/modules/position_estimator/position_estimator_main.c
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe1.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe1.c
index 977565b8e..977565b8e 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe1.c
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1.c
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe1.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1.h
index 2f5330563..2f5330563 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe1.h
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1.h
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe1_initialize.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.c
index 6627f76e9..6627f76e9 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe1_initialize.c
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.c
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe1_initialize.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.h
index a77eb5712..a77eb5712 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe1_initialize.h
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.h
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe1_terminate.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.c
index a65536f79..a65536f79 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe1_terminate.c
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.c
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe1_terminate.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.h
index 100c7f76c..100c7f76c 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe1_terminate.h
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.h
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe1_types.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_types.h
index d4b2c2d61..d4b2c2d61 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe1_types.h
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_types.h
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe2.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe2.c
index 11b999064..11b999064 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe2.c
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2.c
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe2.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2.h
index 30170ae22..30170ae22 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe2.h
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2.h
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe2_initialize.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.c
index de5a1d8aa..de5a1d8aa 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe2_initialize.c
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.c
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe2_initialize.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.h
index 3d507ff31..3d507ff31 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe2_initialize.h
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.h
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe2_terminate.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.c
index 0757c878c..0757c878c 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe2_terminate.c
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.c
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe2_terminate.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.h
index 23995020b..23995020b 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe2_terminate.h
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.h
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe2_types.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_types.h
index f7a04d908..f7a04d908 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe2_types.h
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_types.h
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe3.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3.c
index 9efe2ea7a..9efe2ea7a 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe3.c
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3.c
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe3.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3.h
index 9bbffbbb3..9bbffbbb3 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe3.h
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3.h
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe3_data.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.c
index 8f2275c13..8f2275c13 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe3_data.c
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.c
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe3_data.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.h
index 952eb7b89..952eb7b89 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe3_data.h
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.h
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe3_initialize.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.c
index b87d604c4..b87d604c4 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe3_initialize.c
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.c
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe3_initialize.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.h
index 9dee90f9e..9dee90f9e 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe3_initialize.h
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.h
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe3_terminate.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.c
index b00858205..b00858205 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe3_terminate.c
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.c
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe3_terminate.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.h
index 69cc85c76..69cc85c76 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe3_terminate.h
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.h
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe3_types.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_types.h
index f36ea4557..f36ea4557 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe3_types.h
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_types.h
diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.c
index 5139848bc..5139848bc 100755
--- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D.c
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.c
diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.h
index 205c8eb4e..205c8eb4e 100755
--- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D.h
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.h
diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c
index 4c535618a..4c535618a 100755
--- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c
diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h
index 94cbe2ce6..94cbe2ce6 100755
--- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h
diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c
index aa89f8a9d..aa89f8a9d 100755
--- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c
diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h
index 8d358a9a3..8d358a9a3 100755
--- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h
diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c
index 20ed2edbb..20ed2edbb 100755
--- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c
diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h
index 5eb5807a0..5eb5807a0 100755
--- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h
diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h
index 43e5f016c..43e5f016c 100755
--- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h
diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c
index 5bd87c390..5bd87c390 100755
--- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c
diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h
index 44bce472f..44bce472f 100755
--- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h
diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c
index 41e11936f..41e11936f 100755
--- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c
diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h
index e84ea01bc..e84ea01bc 100755
--- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h
diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_types.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_types.h
index 4b473f56f..4b473f56f 100755
--- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_types.h
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_types.h
diff --git a/apps/position_estimator_mc/codegen/randn.c b/src/modules/position_estimator_mc/codegen/randn.c
index 51aef7b76..51aef7b76 100755
--- a/apps/position_estimator_mc/codegen/randn.c
+++ b/src/modules/position_estimator_mc/codegen/randn.c
diff --git a/apps/position_estimator_mc/codegen/randn.h b/src/modules/position_estimator_mc/codegen/randn.h
index 8a2aa9277..8a2aa9277 100755
--- a/apps/position_estimator_mc/codegen/randn.h
+++ b/src/modules/position_estimator_mc/codegen/randn.h
diff --git a/apps/position_estimator_mc/codegen/rtGetInf.c b/src/modules/position_estimator_mc/codegen/rtGetInf.c
index c6fa7884e..c6fa7884e 100755
--- a/apps/position_estimator_mc/codegen/rtGetInf.c
+++ b/src/modules/position_estimator_mc/codegen/rtGetInf.c
diff --git a/apps/position_estimator_mc/codegen/rtGetInf.h b/src/modules/position_estimator_mc/codegen/rtGetInf.h
index e7b2a2d1c..e7b2a2d1c 100755
--- a/apps/position_estimator_mc/codegen/rtGetInf.h
+++ b/src/modules/position_estimator_mc/codegen/rtGetInf.h
diff --git a/apps/position_estimator_mc/codegen/rtGetNaN.c b/src/modules/position_estimator_mc/codegen/rtGetNaN.c
index 552770149..552770149 100755
--- a/apps/position_estimator_mc/codegen/rtGetNaN.c
+++ b/src/modules/position_estimator_mc/codegen/rtGetNaN.c
diff --git a/apps/position_estimator_mc/codegen/rtGetNaN.h b/src/modules/position_estimator_mc/codegen/rtGetNaN.h
index 5acdd9790..5acdd9790 100755
--- a/apps/position_estimator_mc/codegen/rtGetNaN.h
+++ b/src/modules/position_estimator_mc/codegen/rtGetNaN.h
diff --git a/apps/position_estimator_mc/codegen/rt_nonfinite.c b/src/modules/position_estimator_mc/codegen/rt_nonfinite.c
index de121c4a0..de121c4a0 100755
--- a/apps/position_estimator_mc/codegen/rt_nonfinite.c
+++ b/src/modules/position_estimator_mc/codegen/rt_nonfinite.c
diff --git a/apps/position_estimator_mc/codegen/rt_nonfinite.h b/src/modules/position_estimator_mc/codegen/rt_nonfinite.h
index 3bbcfd087..3bbcfd087 100755
--- a/apps/position_estimator_mc/codegen/rt_nonfinite.h
+++ b/src/modules/position_estimator_mc/codegen/rt_nonfinite.h
diff --git a/apps/position_estimator_mc/codegen/rtwtypes.h b/src/modules/position_estimator_mc/codegen/rtwtypes.h
index 8916e8572..8916e8572 100755
--- a/apps/position_estimator_mc/codegen/rtwtypes.h
+++ b/src/modules/position_estimator_mc/codegen/rtwtypes.h
diff --git a/apps/position_estimator_mc/kalman_dlqe1.m b/src/modules/position_estimator_mc/kalman_dlqe1.m
index ff939d029..ff939d029 100755
--- a/apps/position_estimator_mc/kalman_dlqe1.m
+++ b/src/modules/position_estimator_mc/kalman_dlqe1.m
diff --git a/apps/position_estimator_mc/kalman_dlqe2.m b/src/modules/position_estimator_mc/kalman_dlqe2.m
index 2a50164ef..2a50164ef 100755
--- a/apps/position_estimator_mc/kalman_dlqe2.m
+++ b/src/modules/position_estimator_mc/kalman_dlqe2.m
diff --git a/apps/position_estimator_mc/kalman_dlqe3.m b/src/modules/position_estimator_mc/kalman_dlqe3.m
index 4c6421b7f..4c6421b7f 100755
--- a/apps/position_estimator_mc/kalman_dlqe3.m
+++ b/src/modules/position_estimator_mc/kalman_dlqe3.m
diff --git a/apps/position_estimator_mc/Makefile b/src/modules/position_estimator_mc/module.mk
index 8f1100158..40b135ea4 100644
--- a/apps/position_estimator_mc/Makefile
+++ b/src/modules/position_estimator_mc/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -35,11 +35,9 @@
 # Makefile to build the position estimator
 #
 
-APPNAME		 = position_estimator_mc
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 4096
+MODULE_COMMAND	 = position_estimator_mc
 
-CSRCS		 = position_estimator_mc_main.c \
+SRCS		 = position_estimator_mc_main.c \
 			   position_estimator_mc_params.c \
 			   codegen/positionKalmanFilter1D_initialize.c \
 			   codegen/positionKalmanFilter1D_terminate.c \
@@ -60,5 +58,3 @@ CSRCS		 = position_estimator_mc_main.c \
 			   codegen/kalman_dlqe3_terminate.c \
 			   codegen/kalman_dlqe3_data.c \
 			   codegen/randn.c
-			   
-include $(APPDIR)/mk/app.mk
diff --git a/apps/position_estimator_mc/positionKalmanFilter1D.m b/src/modules/position_estimator_mc/positionKalmanFilter1D.m
index 144ff8c7c..144ff8c7c 100755
--- a/apps/position_estimator_mc/positionKalmanFilter1D.m
+++ b/src/modules/position_estimator_mc/positionKalmanFilter1D.m
diff --git a/apps/position_estimator_mc/positionKalmanFilter1D_dT.m b/src/modules/position_estimator_mc/positionKalmanFilter1D_dT.m
index f94cce1fb..f94cce1fb 100755
--- a/apps/position_estimator_mc/positionKalmanFilter1D_dT.m
+++ b/src/modules/position_estimator_mc/positionKalmanFilter1D_dT.m
diff --git a/apps/position_estimator_mc/position_estimator_mc_main.c b/src/modules/position_estimator_mc/position_estimator_mc_main.c
index 10dee3f22..10dee3f22 100755
--- a/apps/position_estimator_mc/position_estimator_mc_main.c
+++ b/src/modules/position_estimator_mc/position_estimator_mc_main.c
diff --git a/apps/position_estimator_mc/position_estimator_mc_params.c b/src/modules/position_estimator_mc/position_estimator_mc_params.c
index 72e5bc73b..72e5bc73b 100755
--- a/apps/position_estimator_mc/position_estimator_mc_params.c
+++ b/src/modules/position_estimator_mc/position_estimator_mc_params.c
diff --git a/apps/position_estimator_mc/position_estimator_mc_params.h b/src/modules/position_estimator_mc/position_estimator_mc_params.h
index c4c95f7b4..c4c95f7b4 100755
--- a/apps/position_estimator_mc/position_estimator_mc_params.h
+++ b/src/modules/position_estimator_mc/position_estimator_mc_params.h
diff --git a/apps/px4io/adc.c b/src/modules/px4iofirmware/adc.c
index 670b8d635..f744698be 100644
--- a/apps/px4io/adc.c
+++ b/src/modules/px4iofirmware/adc.c
@@ -135,6 +135,9 @@ adc_init(void)
 	return 0;
 }
 
+/*
+  return one measurement, or 0xffff on error
+ */
 uint16_t
 adc_measure(unsigned channel)
 {
@@ -154,9 +157,10 @@ adc_measure(unsigned channel)
 	while (!(rSR & ADC_SR_EOC)) {
 
 		/* never spin forever - this will give a bogus result though */
-		if (hrt_elapsed_time(&now) > 1000) {
+		if (hrt_elapsed_time(&now) > 100) {
 			debug("adc timeout");
-			break;
+			perf_end(adc_perf);
+			return 0xffff;
 		}
 	}
 
@@ -165,4 +169,4 @@ adc_measure(unsigned channel)
 
 	perf_end(adc_perf);
 	return result;
-}
\ No newline at end of file
+}
diff --git a/apps/px4io/controls.c b/src/modules/px4iofirmware/controls.c
index dc36f6c93..dc36f6c93 100644
--- a/apps/px4io/controls.c
+++ b/src/modules/px4iofirmware/controls.c
diff --git a/apps/px4io/dsm.c b/src/modules/px4iofirmware/dsm.c
index ea35e5513..ea35e5513 100644
--- a/apps/px4io/dsm.c
+++ b/src/modules/px4iofirmware/dsm.c
diff --git a/apps/px4io/i2c.c b/src/modules/px4iofirmware/i2c.c
index 4485daa5b..4485daa5b 100644
--- a/apps/px4io/i2c.c
+++ b/src/modules/px4iofirmware/i2c.c
diff --git a/apps/px4io/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp
index f38593d2a..f38593d2a 100644
--- a/apps/px4io/mixer.cpp
+++ b/src/modules/px4iofirmware/mixer.cpp
diff --git a/src/modules/px4iofirmware/module.mk b/src/modules/px4iofirmware/module.mk
new file mode 100644
index 000000000..6379366f4
--- /dev/null
+++ b/src/modules/px4iofirmware/module.mk
@@ -0,0 +1,19 @@
+
+
+SRCS		= adc.c \
+		  controls.c \
+		  dsm.c \
+		  i2c.c \
+		  px4io.c \
+		  registers.c \
+		  safety.c \
+		  sbus.c \
+		  ../systemlib/up_cxxinitialize.c \
+		  ../systemlib/hx_stream.c \
+		  ../systemlib/perf_counter.c \
+		  mixer.cpp \
+		  ../systemlib/mixer/mixer.cpp \
+		  ../systemlib/mixer/mixer_group.cpp \
+		  ../systemlib/mixer/mixer_multirotor.cpp \
+		  ../systemlib/mixer/mixer_simple.cpp \
+		  
\ No newline at end of file
diff --git a/apps/px4io/protocol.h b/src/modules/px4iofirmware/protocol.h
index 8d8b7e941..b80551a07 100644
--- a/apps/px4io/protocol.h
+++ b/src/modules/px4iofirmware/protocol.h
@@ -115,7 +115,7 @@
 #define PX4IO_P_STATUS_ALARMS_PWM_ERROR		(1 << 6) /* PWM configuration or output was bad */
 
 #define PX4IO_P_STATUS_VBATT			4	/* battery voltage in mV */
-#define PX4IO_P_STATUS_IBATT			5	/* battery current in cA */
+#define PX4IO_P_STATUS_IBATT			5	/* battery current (raw ADC) */
 
 /* array of post-mix actuator outputs, -10000..10000 */
 #define PX4IO_PAGE_ACTUATORS		2		/* 0..CONFIG_ACTUATOR_COUNT-1 */
@@ -155,8 +155,6 @@
 #define PX4IO_P_SETUP_PWM_ALTRATE		4	/* 'high' PWM frame output rate in Hz */
 #define PX4IO_P_SETUP_RELAYS			5	/* bitmask of relay/switch outputs, 0 = off, 1 = on */
 #define PX4IO_P_SETUP_VBATT_SCALE		6	/* battery voltage correction factor (float) */
-#define PX4IO_P_SETUP_IBATT_SCALE		7	/* battery current scaling factor (float) */
-#define PX4IO_P_SETUP_IBATT_BIAS		8	/* battery current bias value */
 #define PX4IO_P_SETUP_SET_DEBUG			9	/* debug level for IO board */
 
 /* autopilot control values, -10000..10000 */
diff --git a/apps/px4io/px4io.c b/src/modules/px4iofirmware/px4io.c
index 9de37e118..bc8dfc116 100644
--- a/apps/px4io/px4io.c
+++ b/src/modules/px4iofirmware/px4io.c
@@ -64,8 +64,10 @@ struct sys_state_s 	system_state;
 
 static struct hrt_call serial_dma_call;
 
+#ifdef CONFIG_STM32_I2C1
 /* store i2c reset count XXX this should be a register, together with other error counters */
 volatile uint32_t i2c_loop_resets = 0;
+#endif
 
 /*
  * a set of debug buffers to allow us to send debug information from ISRs
@@ -133,7 +135,9 @@ user_start(int argc, char *argv[])
 	 * Poll at 1ms intervals for received bytes that have not triggered
 	 * a DMA event.
 	 */
+#ifdef CONFIG_ARCH_DMA
 	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
 
 	/* print some startup info */
 	lowsyslog("\nPX4IO: starting\n");
@@ -155,8 +159,10 @@ user_start(int argc, char *argv[])
 	/* initialise the control inputs */
 	controls_init();
 
+#ifdef CONFIG_STM32_I2C1
 	/* start the i2c handler */
 	i2c_init();
+#endif
 
 	/* add a performance counter for mixing */
 	perf_counter_t mixer_perf = perf_alloc(PC_ELAPSED, "mix");
diff --git a/apps/px4io/px4io.h b/src/modules/px4iofirmware/px4io.h
index 202e9d9d9..272cdb7bf 100644
--- a/apps/px4io/px4io.h
+++ b/src/modules/px4iofirmware/px4io.h
@@ -124,10 +124,18 @@ extern struct sys_state_s system_state;
 #define LED_SAFETY(_s)		stm32_gpiowrite(GPIO_LED3, !(_s))
 
 #define POWER_SERVO(_s)		stm32_gpiowrite(GPIO_SERVO_PWR_EN, (_s))
-#define POWER_ACC1(_s)		stm32_gpiowrite(GPIO_ACC1_PWR_EN, (_s))
-#define POWER_ACC2(_s)		stm32_gpiowrite(GPIO_ACC2_PWR_EN, (_s))
-#define POWER_RELAY1(_s)	stm32_gpiowrite(GPIO_RELAY1_EN, (_s))
-#define POWER_RELAY2(_s)	stm32_gpiowrite(GPIO_RELAY2_EN, (_s))
+#ifdef GPIO_ACC1_PWR_EN
+    #define POWER_ACC1(_s)		stm32_gpiowrite(GPIO_ACC1_PWR_EN, (_s))
+#endif
+#ifdef GPIO_ACC2_PWR_EN
+    #define POWER_ACC2(_s)		stm32_gpiowrite(GPIO_ACC2_PWR_EN, (_s))
+#endif
+#ifdef GPIO_RELAY1_EN
+    #define POWER_RELAY1(_s)	stm32_gpiowrite(GPIO_RELAY1_EN, (_s))
+#endif
+#ifdef GPIO_RELAY2_EN
+    #define POWER_RELAY2(_s)	stm32_gpiowrite(GPIO_RELAY2_EN, (_s))
+#endif
 
 #define OVERCURRENT_ACC		(!stm32_gpioread(GPIO_ACC_OC_DETECT))
 #define OVERCURRENT_SERVO	(!stm32_gpioread(GPIO_SERVO_OC_DETECT))
@@ -148,10 +156,12 @@ extern void	mixer_handle_text(const void *buffer, size_t length);
  */
 extern void	safety_init(void);
 
+#ifdef CONFIG_STM32_I2C1
 /**
  * FMU communications
  */
 extern void	i2c_init(void);
+#endif
 
 /**
  * Register space
@@ -183,6 +193,7 @@ extern volatile uint8_t debug_level;
 /* send a debug message to the console */
 extern void isr_debug(uint8_t level, const char *fmt, ...);
 
+#ifdef CONFIG_STM32_I2C1
 void i2c_dump(void);
 void i2c_reset(void);
-
+#endif
diff --git a/apps/px4io/registers.c b/src/modules/px4iofirmware/registers.c
index 6c09def9e..4f3addfea 100644
--- a/apps/px4io/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -138,8 +138,6 @@ volatile uint16_t	r_page_setup[] =
 	[PX4IO_P_SETUP_PWM_ALTRATE]		= 200,
 	[PX4IO_P_SETUP_RELAYS]			= 0,
 	[PX4IO_P_SETUP_VBATT_SCALE]		= 10000,
-	[PX4IO_P_SETUP_IBATT_SCALE]		= 0,
-	[PX4IO_P_SETUP_IBATT_BIAS]		= 0,
 	[PX4IO_P_SETUP_SET_DEBUG]		= 0,
 };
 
@@ -508,20 +506,27 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val
 			 * Intercept corrected for best results @ 12V.
 			 */
 			unsigned counts = adc_measure(ADC_VBATT);
-			unsigned mV = (4150 + (counts * 46)) / 10 - 200;
-			unsigned corrected = (mV * r_page_setup[PX4IO_P_SETUP_VBATT_SCALE]) / 10000;
+			if (counts != 0xffff) {
+				unsigned mV = (4150 + (counts * 46)) / 10 - 200;
+				unsigned corrected = (mV * r_page_setup[PX4IO_P_SETUP_VBATT_SCALE]) / 10000;
 
-			r_page_status[PX4IO_P_STATUS_VBATT] = corrected;
+				r_page_status[PX4IO_P_STATUS_VBATT] = corrected;
+			}
 		}
 
 		/* PX4IO_P_STATUS_IBATT */
 		{
-			unsigned counts = adc_measure(ADC_VBATT);
-			unsigned scaled = (counts * r_page_setup[PX4IO_P_SETUP_IBATT_SCALE]) / 10000;
-			int corrected = scaled + REG_TO_SIGNED(r_page_setup[PX4IO_P_SETUP_IBATT_BIAS]);
-			if (corrected < 0)
-				corrected = 0;
-			r_page_status[PX4IO_P_STATUS_IBATT] = corrected;
+			/*
+			  note that we have no idea what sort of
+			  current sensor is attached, so we just
+			  return the raw 12 bit ADC value and let the
+			  FMU sort it out, with user selectable
+			  configuration for their sensor
+			 */
+			unsigned counts = adc_measure(ADC_IN5);
+			if (counts != 0xffff) {
+				r_page_status[PX4IO_P_STATUS_IBATT] = counts;
+			}
 		}
 
 		SELECT_PAGE(r_page_status);
diff --git a/apps/px4io/safety.c b/src/modules/px4iofirmware/safety.c
index 5495d5ae1..5495d5ae1 100644
--- a/apps/px4io/safety.c
+++ b/src/modules/px4iofirmware/safety.c
diff --git a/apps/px4io/sbus.c b/src/modules/px4iofirmware/sbus.c
index 073ddeaba..073ddeaba 100644
--- a/apps/px4io/sbus.c
+++ b/src/modules/px4iofirmware/sbus.c
diff --git a/apps/sdlog/Makefile b/src/modules/sdlog/module.mk
index 225b14a32..89da2d827 100644
--- a/apps/sdlog/Makefile
+++ b/src/modules/sdlog/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -35,9 +35,9 @@
 # sdlog Application
 #
 
-APPNAME		 = sdlog
+MODULE_COMMAND	 = sdlog
 # The main thread only buffers to RAM, needs a high priority
-PRIORITY	 = SCHED_PRIORITY_MAX - 30
-STACKSIZE	 = 2048
+MODULE_PRIORITY	 = "SCHED_PRIORITY_MAX-30"
 
-include $(APPDIR)/mk/app.mk
+SRCS		 = sdlog.c \
+		   sdlog_ringbuffer.c
diff --git a/apps/sdlog/sdlog.c b/src/modules/sdlog/sdlog.c
index df8745d9f..df8745d9f 100644
--- a/apps/sdlog/sdlog.c
+++ b/src/modules/sdlog/sdlog.c
diff --git a/apps/sdlog/sdlog_ringbuffer.c b/src/modules/sdlog/sdlog_ringbuffer.c
index d7c8a4759..d7c8a4759 100644
--- a/apps/sdlog/sdlog_ringbuffer.c
+++ b/src/modules/sdlog/sdlog_ringbuffer.c
diff --git a/apps/sdlog/sdlog_ringbuffer.h b/src/modules/sdlog/sdlog_ringbuffer.h
index b65916459..b65916459 100644
--- a/apps/sdlog/sdlog_ringbuffer.h
+++ b/src/modules/sdlog/sdlog_ringbuffer.h
diff --git a/apps/commander/.context b/src/modules/sensors/.context
index e69de29bb..e69de29bb 100644
--- a/apps/commander/.context
+++ b/src/modules/sensors/.context
diff --git a/apps/sensors/Makefile b/src/modules/sensors/module.mk
index 526fb0164..ebbc580e1 100644
--- a/apps/sensors/Makefile
+++ b/src/modules/sensors/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -35,11 +35,8 @@
 # Makefile to build the sensor data collector
 #
 
-APPNAME		= sensors
-PRIORITY	= SCHED_PRIORITY_MAX-5
-STACKSIZE	= 4096
+MODULE_COMMAND	= sensors
+MODULE_PRIORITY	= "SCHED_PRIORITY_MAX-5"
 
-CXXSRCS		= sensors.cpp
-CSRCS		= sensor_params.c
-
-include $(APPDIR)/mk/app.mk
+SRCS		= sensors.cpp \
+		  sensor_params.c
diff --git a/apps/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index c850e3a1e..c850e3a1e 100644
--- a/apps/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
diff --git a/apps/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 1f3f7707e..123bbb120 100644
--- a/apps/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -372,7 +372,9 @@ Sensors	*g_sensors;
 }
 
 Sensors::Sensors() :
+#ifdef CONFIG_HRT_PPM
 	_ppm_last_valid(0),
+#endif
 
 	_fd_adc(-1),
 	_last_adc(0),
diff --git a/apps/systemlib/airspeed.c b/src/modules/systemlib/airspeed.c
index 264287b10..264287b10 100644
--- a/apps/systemlib/airspeed.c
+++ b/src/modules/systemlib/airspeed.c
diff --git a/apps/systemlib/airspeed.h b/src/modules/systemlib/airspeed.h
index def53f0c1..def53f0c1 100644
--- a/apps/systemlib/airspeed.h
+++ b/src/modules/systemlib/airspeed.h
diff --git a/apps/systemlib/bson/tinybson.c b/src/modules/systemlib/bson/tinybson.c
index 321466f87..8aca6a25d 100644
--- a/apps/systemlib/bson/tinybson.c
+++ b/src/modules/systemlib/bson/tinybson.c
@@ -40,7 +40,7 @@
 #include <unistd.h>
 #include <string.h>
 #include <stdlib.h>
-#include <err.h>
+#include <systemlib/err.h>
 
 #include "tinybson.h"
 
diff --git a/apps/systemlib/bson/tinybson.h b/src/modules/systemlib/bson/tinybson.h
index 666f8191a..666f8191a 100644
--- a/apps/systemlib/bson/tinybson.h
+++ b/src/modules/systemlib/bson/tinybson.h
diff --git a/apps/systemlib/conversions.c b/src/modules/systemlib/conversions.c
index ac94252c5..ac94252c5 100644
--- a/apps/systemlib/conversions.c
+++ b/src/modules/systemlib/conversions.c
diff --git a/apps/systemlib/conversions.h b/src/modules/systemlib/conversions.h
index 5d485b01f..5d485b01f 100644
--- a/apps/systemlib/conversions.h
+++ b/src/modules/systemlib/conversions.h
diff --git a/apps/systemlib/cpuload.c b/src/modules/systemlib/cpuload.c
index 20b711fa6..20b711fa6 100644
--- a/apps/systemlib/cpuload.c
+++ b/src/modules/systemlib/cpuload.c
diff --git a/apps/systemlib/cpuload.h b/src/modules/systemlib/cpuload.h
index a97047ea8..a97047ea8 100644
--- a/apps/systemlib/cpuload.h
+++ b/src/modules/systemlib/cpuload.h
diff --git a/apps/systemlib/err.c b/src/modules/systemlib/err.c
index daf17ef8b..daf17ef8b 100644
--- a/apps/systemlib/err.c
+++ b/src/modules/systemlib/err.c
diff --git a/apps/systemlib/err.h b/src/modules/systemlib/err.h
index ca13d6265..ca13d6265 100644
--- a/apps/systemlib/err.h
+++ b/src/modules/systemlib/err.h
diff --git a/apps/systemlib/geo/geo.c b/src/modules/systemlib/geo/geo.c
index 6746e8ff3..6746e8ff3 100644
--- a/apps/systemlib/geo/geo.c
+++ b/src/modules/systemlib/geo/geo.c
diff --git a/apps/systemlib/geo/geo.h b/src/modules/systemlib/geo/geo.h
index 0c0b5c533..0c0b5c533 100644
--- a/apps/systemlib/geo/geo.h
+++ b/src/modules/systemlib/geo/geo.h
diff --git a/apps/systemlib/getopt_long.c b/src/modules/systemlib/getopt_long.c
index 27c38635f..27c38635f 100644
--- a/apps/systemlib/getopt_long.c
+++ b/src/modules/systemlib/getopt_long.c
diff --git a/apps/systemlib/getopt_long.h b/src/modules/systemlib/getopt_long.h
index 61e8e76f3..61e8e76f3 100644
--- a/apps/systemlib/getopt_long.h
+++ b/src/modules/systemlib/getopt_long.h
diff --git a/apps/systemlib/hx_stream.c b/src/modules/systemlib/hx_stream.c
index 8d77f14a8..8d77f14a8 100644
--- a/apps/systemlib/hx_stream.c
+++ b/src/modules/systemlib/hx_stream.c
diff --git a/apps/systemlib/hx_stream.h b/src/modules/systemlib/hx_stream.h
index 128689953..128689953 100644
--- a/apps/systemlib/hx_stream.h
+++ b/src/modules/systemlib/hx_stream.h
diff --git a/apps/systemlib/mixer/mixer.cpp b/src/modules/systemlib/mixer/mixer.cpp
index df0dfe838..df0dfe838 100644
--- a/apps/systemlib/mixer/mixer.cpp
+++ b/src/modules/systemlib/mixer/mixer.cpp
diff --git a/apps/systemlib/mixer/mixer.h b/src/modules/systemlib/mixer/mixer.h
index bbfa130a9..bbfa130a9 100644
--- a/apps/systemlib/mixer/mixer.h
+++ b/src/modules/systemlib/mixer/mixer.h
diff --git a/apps/systemlib/mixer/mixer_group.cpp b/src/modules/systemlib/mixer/mixer_group.cpp
index 1dbc512cd..1dbc512cd 100644
--- a/apps/systemlib/mixer/mixer_group.cpp
+++ b/src/modules/systemlib/mixer/mixer_group.cpp
diff --git a/apps/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp
index 8ded0b05c..8ded0b05c 100644
--- a/apps/systemlib/mixer/mixer_multirotor.cpp
+++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp
diff --git a/apps/systemlib/mixer/mixer_simple.cpp b/src/modules/systemlib/mixer/mixer_simple.cpp
index 07dc5f37f..07dc5f37f 100644
--- a/apps/systemlib/mixer/mixer_simple.cpp
+++ b/src/modules/systemlib/mixer/mixer_simple.cpp
diff --git a/src/modules/systemlib/mixer/module.mk b/src/modules/systemlib/mixer/module.mk
new file mode 100644
index 000000000..4d45e1c50
--- /dev/null
+++ b/src/modules/systemlib/mixer/module.mk
@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# mixer library
+#
+LIBNAME	= mixerlib
+
+SRCS		= mixer.cpp \
+		  mixer_group.cpp \
+		  mixer_multirotor.cpp \
+		  mixer_simple.cpp
diff --git a/apps/systemlib/mixer/multi_tables b/src/modules/systemlib/mixer/multi_tables
index 683c63040..683c63040 100755
--- a/apps/systemlib/mixer/multi_tables
+++ b/src/modules/systemlib/mixer/multi_tables
diff --git a/apps/systemlib/Makefile b/src/modules/systemlib/module.mk
index 8240dbe43..fd0289c9a 100644
--- a/apps/systemlib/Makefile
+++ b/src/modules/systemlib/module.mk
@@ -35,7 +35,7 @@
 # System utility library
 #
 
-CSRCS		 = err.c \
+SRCS		 = err.c \
 		   hx_stream.c \
 		   perf_counter.c \
 		   param/param.c \
@@ -44,17 +44,7 @@ CSRCS		 = err.c \
 		   cpuload.c \
 		   getopt_long.c \
 		   up_cxxinitialize.c \
-		   airspeed.c
-
-#		   ppm_decode.c \
-
-#
-# XXX this really should be a CONFIG_* test
-#
-ifeq ($(TARGET),px4fmu)
-CSRCS		+= systemlib.c \
 		   pid/pid.c \
-		   geo/geo.c
-endif
-
-include $(APPDIR)/mk/app.mk
+		   geo/geo.c \
+		   systemlib.c \
+		   airspeed.c
diff --git a/apps/systemlib/param/param.c b/src/modules/systemlib/param/param.c
index 8073570d1..69a9bdf9b 100644
--- a/apps/systemlib/param/param.c
+++ b/src/modules/systemlib/param/param.c
@@ -46,7 +46,7 @@
 #include <stdbool.h>
 #include <fcntl.h>
 #include <unistd.h>
-#include <err.h>
+#include <systemlib/err.h>
 #include <errno.h>
 
 #include <sys/stat.h>
diff --git a/apps/systemlib/param/param.h b/src/modules/systemlib/param/param.h
index 084cd931a..084cd931a 100644
--- a/apps/systemlib/param/param.h
+++ b/src/modules/systemlib/param/param.h
diff --git a/apps/systemlib/perf_counter.c b/src/modules/systemlib/perf_counter.c
index 879f4715a..879f4715a 100644
--- a/apps/systemlib/perf_counter.c
+++ b/src/modules/systemlib/perf_counter.c
diff --git a/apps/systemlib/perf_counter.h b/src/modules/systemlib/perf_counter.h
index 5c2cb15b2..5c2cb15b2 100644
--- a/apps/systemlib/perf_counter.h
+++ b/src/modules/systemlib/perf_counter.h
diff --git a/apps/systemlib/pid/pid.c b/src/modules/systemlib/pid/pid.c
index 49315cdc9..49315cdc9 100644
--- a/apps/systemlib/pid/pid.c
+++ b/src/modules/systemlib/pid/pid.c
diff --git a/apps/systemlib/pid/pid.h b/src/modules/systemlib/pid/pid.h
index 64d668867..64d668867 100644
--- a/apps/systemlib/pid/pid.h
+++ b/src/modules/systemlib/pid/pid.h
diff --git a/apps/systemlib/ppm_decode.c b/src/modules/systemlib/ppm_decode.c
index a5d2f738d..a5d2f738d 100644
--- a/apps/systemlib/ppm_decode.c
+++ b/src/modules/systemlib/ppm_decode.c
diff --git a/apps/systemlib/ppm_decode.h b/src/modules/systemlib/ppm_decode.h
index 6c5e15345..6c5e15345 100644
--- a/apps/systemlib/ppm_decode.h
+++ b/src/modules/systemlib/ppm_decode.h
diff --git a/apps/systemlib/scheduling_priorities.h b/src/modules/systemlib/scheduling_priorities.h
index be1dbfcd8..be1dbfcd8 100644
--- a/apps/systemlib/scheduling_priorities.h
+++ b/src/modules/systemlib/scheduling_priorities.h
diff --git a/apps/systemlib/systemlib.c b/src/modules/systemlib/systemlib.c
index afb7eca29..afb7eca29 100644
--- a/apps/systemlib/systemlib.c
+++ b/src/modules/systemlib/systemlib.c
diff --git a/apps/systemlib/systemlib.h b/src/modules/systemlib/systemlib.h
index 2c53c648b..2c53c648b 100644
--- a/apps/systemlib/systemlib.h
+++ b/src/modules/systemlib/systemlib.h
diff --git a/apps/systemlib/up_cxxinitialize.c b/src/modules/systemlib/up_cxxinitialize.c
index c78f29570..c78f29570 100644
--- a/apps/systemlib/up_cxxinitialize.c
+++ b/src/modules/systemlib/up_cxxinitialize.c
diff --git a/apps/systemlib/uthash/doc/userguide.txt b/src/modules/systemlib/uthash/doc/userguide.txt
index 3e65a52fc..3e65a52fc 100644
--- a/apps/systemlib/uthash/doc/userguide.txt
+++ b/src/modules/systemlib/uthash/doc/userguide.txt
diff --git a/apps/systemlib/uthash/doc/utarray.txt b/src/modules/systemlib/uthash/doc/utarray.txt
index 37830f124..37830f124 100644
--- a/apps/systemlib/uthash/doc/utarray.txt
+++ b/src/modules/systemlib/uthash/doc/utarray.txt
diff --git a/apps/systemlib/uthash/doc/utlist.txt b/src/modules/systemlib/uthash/doc/utlist.txt
index fbf961c27..fbf961c27 100644
--- a/apps/systemlib/uthash/doc/utlist.txt
+++ b/src/modules/systemlib/uthash/doc/utlist.txt
diff --git a/apps/systemlib/uthash/doc/utstring.txt b/src/modules/systemlib/uthash/doc/utstring.txt
index abfdcd107..abfdcd107 100644
--- a/apps/systemlib/uthash/doc/utstring.txt
+++ b/src/modules/systemlib/uthash/doc/utstring.txt
diff --git a/apps/systemlib/uthash/utarray.h b/src/modules/systemlib/uthash/utarray.h
index 4ffb630bf..4ffb630bf 100644
--- a/apps/systemlib/uthash/utarray.h
+++ b/src/modules/systemlib/uthash/utarray.h
diff --git a/apps/systemlib/uthash/uthash.h b/src/modules/systemlib/uthash/uthash.h
index 9f83fc34f..9f83fc34f 100644
--- a/apps/systemlib/uthash/uthash.h
+++ b/src/modules/systemlib/uthash/uthash.h
diff --git a/apps/systemlib/uthash/utlist.h b/src/modules/systemlib/uthash/utlist.h
index 1578acad2..1578acad2 100644
--- a/apps/systemlib/uthash/utlist.h
+++ b/src/modules/systemlib/uthash/utlist.h
diff --git a/apps/systemlib/uthash/utstring.h b/src/modules/systemlib/uthash/utstring.h
index a181ad778..a181ad778 100644
--- a/apps/systemlib/uthash/utstring.h
+++ b/src/modules/systemlib/uthash/utstring.h
diff --git a/apps/systemcmds/calibration/calibration.h b/src/modules/systemlib/visibility.h
index 028853ec8..2c6adc062 100644
--- a/apps/systemcmds/calibration/calibration.h
+++ b/src/modules/systemlib/visibility.h
@@ -31,30 +31,32 @@
  *
  ****************************************************************************/
 
-#ifndef _CALIBRATION_H
-#define _CALIBRATION_H
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-/****************************************************************************
- * Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Public Types
- ****************************************************************************/
+/**
+ * @file visibility.h
+ *
+ * Definitions controlling symbol naming and visibility.
+ *
+ * This file is normally included automatically by the build system.
+ */
 
-/****************************************************************************
- * Public Variables
- ****************************************************************************/
+#ifndef __SYSTEMLIB_VISIBILITY_H
+#define __SYSTEMLIB_VISIBILITY_H
 
-/****************************************************************************
- * Public Function Prototypes
- ****************************************************************************/
-
-extern int range_cal(int argc, char *argv[]);
-extern int servo_cal(int argc, char *argv[]);
+#ifdef __EXPORT
+#  undef __EXPORT
+#endif
+#define __EXPORT __attribute__ ((visibility ("default")))
 
+#ifdef __PRIVATE
+#  undef __PRIVATE
+#endif
+#define __PRIVATE __attribute__ ((visibility ("hidden")))
+
+#ifdef __cplusplus
+#  define __BEGIN_DECLS		extern "C" {
+#  define __END_DECLS		}
+#else
+#  define __BEGIN_DECLS
+#  define __END_DECLS
 #endif
+#endif
\ No newline at end of file
diff --git a/src/modules/test/foo.c b/src/modules/test/foo.c
new file mode 100644
index 000000000..ff6af031f
--- /dev/null
+++ b/src/modules/test/foo.c
@@ -0,0 +1,4 @@
+int test_main(void)
+{
+	return 0;
+}
\ No newline at end of file
diff --git a/src/modules/test/module.mk b/src/modules/test/module.mk
new file mode 100644
index 000000000..abf80eedf
--- /dev/null
+++ b/src/modules/test/module.mk
@@ -0,0 +1,4 @@
+
+MODULE_NAME	 = test
+SRCS		 = foo.c
+
diff --git a/apps/multirotor_att_control/Makefile b/src/modules/uORB/module.mk
index 03cf33e43..5ec31ab01 100755..100644
--- a/apps/multirotor_att_control/Makefile
+++ b/src/modules/uORB/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -35,8 +35,10 @@
 # Makefile to build uORB
 #
 
-APPNAME		 = multirotor_att_control
-PRIORITY	 = SCHED_PRIORITY_MAX - 15
-STACKSIZE	 = 2048
+MODULE_COMMAND		= uorb
 
-include $(APPDIR)/mk/app.mk
+# XXX probably excessive, 2048 should be sufficient
+MODULE_STACKSIZE	= 4096
+
+SRCS			= uORB.cpp \
+			  objects_common.cpp
diff --git a/apps/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp
index 136375140..136375140 100644
--- a/apps/uORB/objects_common.cpp
+++ b/src/modules/uORB/objects_common.cpp
diff --git a/apps/uORB/topics/actuator_controls.h b/src/modules/uORB/topics/actuator_controls.h
index 0b50a29ac..0b50a29ac 100644
--- a/apps/uORB/topics/actuator_controls.h
+++ b/src/modules/uORB/topics/actuator_controls.h
diff --git a/apps/uORB/topics/actuator_controls_effective.h b/src/modules/uORB/topics/actuator_controls_effective.h
index 088c4fc8f..088c4fc8f 100644
--- a/apps/uORB/topics/actuator_controls_effective.h
+++ b/src/modules/uORB/topics/actuator_controls_effective.h
diff --git a/apps/uORB/topics/actuator_outputs.h b/src/modules/uORB/topics/actuator_outputs.h
index bbe429073..bbe429073 100644
--- a/apps/uORB/topics/actuator_outputs.h
+++ b/src/modules/uORB/topics/actuator_outputs.h
diff --git a/apps/uORB/topics/battery_status.h b/src/modules/uORB/topics/battery_status.h
index c40d0d4e5..c40d0d4e5 100644
--- a/apps/uORB/topics/battery_status.h
+++ b/src/modules/uORB/topics/battery_status.h
diff --git a/apps/uORB/topics/debug_key_value.h b/src/modules/uORB/topics/debug_key_value.h
index a9d1b83fd..a9d1b83fd 100644
--- a/apps/uORB/topics/debug_key_value.h
+++ b/src/modules/uORB/topics/debug_key_value.h
diff --git a/apps/uORB/topics/differential_pressure.h b/src/modules/uORB/topics/differential_pressure.h
index d5e4bf37e..d5e4bf37e 100644
--- a/apps/uORB/topics/differential_pressure.h
+++ b/src/modules/uORB/topics/differential_pressure.h
diff --git a/apps/uORB/topics/home_position.h b/src/modules/uORB/topics/home_position.h
index 7e1b82a0f..7e1b82a0f 100644
--- a/apps/uORB/topics/home_position.h
+++ b/src/modules/uORB/topics/home_position.h
diff --git a/apps/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h
index 261a8a4ad..261a8a4ad 100644
--- a/apps/uORB/topics/manual_control_setpoint.h
+++ b/src/modules/uORB/topics/manual_control_setpoint.h
diff --git a/apps/uORB/topics/offboard_control_setpoint.h b/src/modules/uORB/topics/offboard_control_setpoint.h
index 2e895c59c..2e895c59c 100644
--- a/apps/uORB/topics/offboard_control_setpoint.h
+++ b/src/modules/uORB/topics/offboard_control_setpoint.h
diff --git a/apps/uORB/topics/omnidirectional_flow.h b/src/modules/uORB/topics/omnidirectional_flow.h
index 8f4be3b3f..8f4be3b3f 100644
--- a/apps/uORB/topics/omnidirectional_flow.h
+++ b/src/modules/uORB/topics/omnidirectional_flow.h
diff --git a/apps/uORB/topics/optical_flow.h b/src/modules/uORB/topics/optical_flow.h
index c854f0079..c854f0079 100644
--- a/apps/uORB/topics/optical_flow.h
+++ b/src/modules/uORB/topics/optical_flow.h
diff --git a/apps/uORB/topics/parameter_update.h b/src/modules/uORB/topics/parameter_update.h
index 300e895c7..300e895c7 100644
--- a/apps/uORB/topics/parameter_update.h
+++ b/src/modules/uORB/topics/parameter_update.h
diff --git a/apps/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h
index 9dd54df91..9dd54df91 100644
--- a/apps/uORB/topics/rc_channels.h
+++ b/src/modules/uORB/topics/rc_channels.h
diff --git a/apps/uORB/topics/sensor_combined.h b/src/modules/uORB/topics/sensor_combined.h
index 961ee8b4a..961ee8b4a 100644
--- a/apps/uORB/topics/sensor_combined.h
+++ b/src/modules/uORB/topics/sensor_combined.h
diff --git a/apps/uORB/topics/subsystem_info.h b/src/modules/uORB/topics/subsystem_info.h
index c415e832e..c415e832e 100644
--- a/apps/uORB/topics/subsystem_info.h
+++ b/src/modules/uORB/topics/subsystem_info.h
diff --git a/apps/uORB/topics/vehicle_attitude.h b/src/modules/uORB/topics/vehicle_attitude.h
index c31c81d0c..c31c81d0c 100755
--- a/apps/uORB/topics/vehicle_attitude.h
+++ b/src/modules/uORB/topics/vehicle_attitude.h
diff --git a/apps/uORB/topics/vehicle_attitude_setpoint.h b/src/modules/uORB/topics/vehicle_attitude_setpoint.h
index a7cda34a8..a7cda34a8 100644
--- a/apps/uORB/topics/vehicle_attitude_setpoint.h
+++ b/src/modules/uORB/topics/vehicle_attitude_setpoint.h
diff --git a/apps/uORB/topics/vehicle_command.h b/src/modules/uORB/topics/vehicle_command.h
index fac571659..fac571659 100644
--- a/apps/uORB/topics/vehicle_command.h
+++ b/src/modules/uORB/topics/vehicle_command.h
diff --git a/apps/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h
index f036c7223..f036c7223 100644
--- a/apps/uORB/topics/vehicle_global_position.h
+++ b/src/modules/uORB/topics/vehicle_global_position.h
diff --git a/apps/uORB/topics/vehicle_global_position_set_triplet.h b/src/modules/uORB/topics/vehicle_global_position_set_triplet.h
index 318abba89..318abba89 100644
--- a/apps/uORB/topics/vehicle_global_position_set_triplet.h
+++ b/src/modules/uORB/topics/vehicle_global_position_set_triplet.h
diff --git a/apps/uORB/topics/vehicle_global_position_setpoint.h b/src/modules/uORB/topics/vehicle_global_position_setpoint.h
index eec6a8229..eec6a8229 100644
--- a/apps/uORB/topics/vehicle_global_position_setpoint.h
+++ b/src/modules/uORB/topics/vehicle_global_position_setpoint.h
diff --git a/apps/uORB/topics/vehicle_gps_position.h b/src/modules/uORB/topics/vehicle_gps_position.h
index 5463a460d..0a7fb4e9d 100644
--- a/apps/uORB/topics/vehicle_gps_position.h
+++ b/src/modules/uORB/topics/vehicle_gps_position.h
@@ -55,38 +55,39 @@
  */
 struct vehicle_gps_position_s
 {
-	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  */
+	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  */
 	
 	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.   */
+	float p_variance_m;				/**< position accuracy estimate m */
+	float c_variance_rad;				/**< course accuracy estimate rad */
+	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.   */
 
-	float eph_m;						/**< GPS HDOP horizontal dilution of position in m */
-	float epv_m;						/**< GPS VDOP horizontal dilution of position in m */
+	float eph_m;					/**< GPS HDOP horizontal dilution of position in m */
+	float epv_m;					/**< GPS VDOP horizontal dilution of position in m */
 
-	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_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, -PI..PI */
+	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 */
+	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_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 */
+	bool satellite_info_available;			/**< 0 for no info, 1 for info available */
 };
 
 /**
diff --git a/apps/uORB/topics/vehicle_local_position.h b/src/modules/uORB/topics/vehicle_local_position.h
index 76eddeacd..76eddeacd 100644
--- a/apps/uORB/topics/vehicle_local_position.h
+++ b/src/modules/uORB/topics/vehicle_local_position.h
diff --git a/apps/uORB/topics/vehicle_local_position_setpoint.h b/src/modules/uORB/topics/vehicle_local_position_setpoint.h
index d24d81e3a..d24d81e3a 100644
--- a/apps/uORB/topics/vehicle_local_position_setpoint.h
+++ b/src/modules/uORB/topics/vehicle_local_position_setpoint.h
diff --git a/apps/uORB/topics/vehicle_rates_setpoint.h b/src/modules/uORB/topics/vehicle_rates_setpoint.h
index 46e62c4b7..46e62c4b7 100644
--- a/apps/uORB/topics/vehicle_rates_setpoint.h
+++ b/src/modules/uORB/topics/vehicle_rates_setpoint.h
diff --git a/apps/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h
index c7c1048f6..c7c1048f6 100644
--- a/apps/uORB/topics/vehicle_status.h
+++ b/src/modules/uORB/topics/vehicle_status.h
diff --git a/apps/uORB/topics/vehicle_vicon_position.h b/src/modules/uORB/topics/vehicle_vicon_position.h
index 0822fa89a..0822fa89a 100644
--- a/apps/uORB/topics/vehicle_vicon_position.h
+++ b/src/modules/uORB/topics/vehicle_vicon_position.h
diff --git a/apps/uORB/uORB.cpp b/src/modules/uORB/uORB.cpp
index 7abbf42ae..7abbf42ae 100644
--- a/apps/uORB/uORB.cpp
+++ b/src/modules/uORB/uORB.cpp
diff --git a/apps/uORB/uORB.h b/src/modules/uORB/uORB.h
index 82ff46ad2..82ff46ad2 100644
--- a/apps/uORB/uORB.h
+++ b/src/modules/uORB/uORB.h
diff --git a/apps/systemcmds/bl_update/bl_update.c b/src/systemcmds/bl_update/bl_update.c
index 45715b791..0569d89f5 100644
--- a/apps/systemcmds/bl_update/bl_update.c
+++ b/src/systemcmds/bl_update/bl_update.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
diff --git a/apps/drivers/boards/px4io/Makefile b/src/systemcmds/bl_update/module.mk
index 85806fe6f..e8eea045e 100644
--- a/apps/drivers/boards/px4io/Makefile
+++ b/src/systemcmds/bl_update/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -32,10 +32,12 @@
 ############################################################################
 
 #
-# Board-specific startup code for the PX4IO
+# Bootloader updater (flashes the FMU USB bootloader software)
 #
 
-INCLUDES	 = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
-LIBNAME		 = brd_px4io
+MODULE_COMMAND	 = bl_update
+SRCS		 = bl_update.c
 
-include $(APPDIR)/mk/app.mk
+MODULE_STACKSIZE = 4096
+
+MAXOPTIMIZATION	 = -Os
diff --git a/apps/systemcmds/boardinfo/boardinfo.c b/src/systemcmds/boardinfo/boardinfo.c
index fb8b07ef4..3ff5a066c 100644
--- a/apps/systemcmds/boardinfo/boardinfo.c
+++ b/src/systemcmds/boardinfo/boardinfo.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
diff --git a/src/systemcmds/boardinfo/module.mk b/src/systemcmds/boardinfo/module.mk
new file mode 100644
index 000000000..6851d229b
--- /dev/null
+++ b/src/systemcmds/boardinfo/module.mk
@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Information about FMU and IO boards connected
+#
+
+MODULE_COMMAND	 = boardinfo
+SRCS		 = boardinfo.c
+
+MAXOPTIMIZATION	 = -Os
diff --git a/apps/systemcmds/eeprom/24xxxx_mtd.c b/src/systemcmds/eeprom/24xxxx_mtd.c
index e34be44e3..e34be44e3 100644
--- a/apps/systemcmds/eeprom/24xxxx_mtd.c
+++ b/src/systemcmds/eeprom/24xxxx_mtd.c
diff --git a/apps/systemcmds/eeprom/eeprom.c b/src/systemcmds/eeprom/eeprom.c
index 49da51358..49da51358 100644
--- a/apps/systemcmds/eeprom/eeprom.c
+++ b/src/systemcmds/eeprom/eeprom.c
diff --git a/src/systemcmds/eeprom/module.mk b/src/systemcmds/eeprom/module.mk
new file mode 100644
index 000000000..07f3945be
--- /dev/null
+++ b/src/systemcmds/eeprom/module.mk
@@ -0,0 +1,39 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# EEPROM file system driver
+#
+
+MODULE_COMMAND	 = eeprom
+SRCS		 = 24xxxx_mtd.c eeprom.c
diff --git a/apps/systemcmds/i2c/i2c.c b/src/systemcmds/i2c/i2c.c
index e1babdc12..4da238039 100644
--- a/apps/systemcmds/i2c/i2c.c
+++ b/src/systemcmds/i2c/i2c.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
  *   Author: Lorenz Meier <lm@inf.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
diff --git a/apps/systemcmds/i2c/Makefile b/src/systemcmds/i2c/module.mk
index 046e74757..ab2357c7d 100644
--- a/apps/systemcmds/i2c/Makefile
+++ b/src/systemcmds/i2c/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -35,8 +35,7 @@
 # Build the i2c test tool.
 #
 
-APPNAME		 = i2c
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 4096
+MODULE_COMMAND	 = i2c
+SRCS		 = i2c.c
 
-include $(APPDIR)/mk/app.mk
+MAXOPTIMIZATION	 = -Os
diff --git a/apps/systemcmds/mixer/mixer.c b/src/systemcmds/mixer/mixer.c
index 55c4f0836..55c4f0836 100644
--- a/apps/systemcmds/mixer/mixer.c
+++ b/src/systemcmds/mixer/mixer.c
diff --git a/apps/systemcmds/mixer/Makefile b/src/systemcmds/mixer/module.mk
index b016ddc57..d5a3f9f77 100644
--- a/apps/systemcmds/mixer/Makefile
+++ b/src/systemcmds/mixer/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -35,8 +35,9 @@
 # Build the mixer tool.
 #
 
-APPNAME		 = mixer
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 4096
+MODULE_COMMAND	 = mixer
+SRCS		 = mixer.c
 
-include $(APPDIR)/mk/app.mk
+MODULE_STACKSIZE = 4096
+
+MAXOPTIMIZATION	 = -Os
diff --git a/apps/systemcmds/param/Makefile b/src/systemcmds/param/module.mk
index 603746a20..63f15ad28 100644
--- a/apps/systemcmds/param/Makefile
+++ b/src/systemcmds/param/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -35,8 +35,10 @@
 # Build the parameters tool.
 #
 
-APPNAME		 = param
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 4096
+MODULE_COMMAND	 = param
+SRCS		 = param.c
+
+MODULE_STACKSIZE = 4096
+
+MAXOPTIMIZATION	 = -Os
 
-include $(APPDIR)/mk/app.mk
diff --git a/apps/systemcmds/param/param.c b/src/systemcmds/param/param.c
index 56f5317e3..56f5317e3 100644
--- a/apps/systemcmds/param/param.c
+++ b/src/systemcmds/param/param.c
diff --git a/apps/systemcmds/perf/Makefile b/src/systemcmds/perf/module.mk
index 0134c9948..77952842b 100644
--- a/apps/systemcmds/perf/Makefile
+++ b/src/systemcmds/perf/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -35,8 +35,7 @@
 # perf_counter reporting tool
 #
 
-APPNAME		 = perf
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
+MODULE_COMMAND	 = perf
+SRCS		 = perf.c
 
-include $(APPDIR)/mk/app.mk
+MAXOPTIMIZATION	 = -Os
diff --git a/apps/systemcmds/perf/perf.c b/src/systemcmds/perf/perf.c
index 64443d019..b69ea597b 100644
--- a/apps/systemcmds/perf/perf.c
+++ b/src/systemcmds/perf/perf.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
diff --git a/src/systemcmds/preflight_check/module.mk b/src/systemcmds/preflight_check/module.mk
new file mode 100644
index 000000000..7c3c88783
--- /dev/null
+++ b/src/systemcmds/preflight_check/module.mk
@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Pre-flight check. Locks down system for a few systems with blinking leds
+# and buzzer if the sensors do not report an OK status.
+#
+
+MODULE_COMMAND	 = preflight_check
+SRCS		 = preflight_check.c
+
+MAXOPTIMIZATION	 = -Os
diff --git a/apps/systemcmds/preflight_check/preflight_check.c b/src/systemcmds/preflight_check/preflight_check.c
index 9ac6f0b5e..42256be61 100644
--- a/apps/systemcmds/preflight_check/preflight_check.c
+++ b/src/systemcmds/preflight_check/preflight_check.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
  *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
diff --git a/apps/systemcmds/pwm/Makefile b/src/systemcmds/pwm/module.mk
index 5ab105ed1..4a23bba90 100644
--- a/apps/systemcmds/pwm/Makefile
+++ b/src/systemcmds/pwm/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -35,8 +35,7 @@
 # Build the pwm tool.
 #
 
-APPNAME		 = pwm
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 4096
+MODULE_COMMAND	 = pwm
+SRCS		 = pwm.c
 
-include $(APPDIR)/mk/app.mk
+MODULE_STACKSIZE = 4096
diff --git a/apps/systemcmds/pwm/pwm.c b/src/systemcmds/pwm/pwm.c
index de7a53199..08e6c88df 100644
--- a/apps/systemcmds/pwm/pwm.c
+++ b/src/systemcmds/pwm/pwm.c
@@ -71,13 +71,14 @@ usage(const char *reason)
 		warnx("%s", reason);
 	errx(1, 
 		"usage:\n"
-		"pwm [-v] [-d <device>] [-u <alt_rate>] [-c <channel group>] [arm|disarm] [<channel_value> ...]\n"
+		"pwm [-v] [-d <device>] [-u <alt_rate>] [-c <channel group>] [-m chanmask ] [arm|disarm] [<channel_value> ...]\n"
 		"  -v                 Print information about the PWM device\n"
 		"  <device>           PWM output device (defaults to " PWM_OUTPUT_DEVICE_PATH ")\n"
 		"  <alt_rate>         PWM update rate for channels in <alt_channel_mask>\n"
 		"  <channel_group>    Channel group that should update at the alternate rate (may be specified more than once)\n"
 		"  arm | disarm       Arm or disarm the ouptut\n"
 		"  <channel_value>... PWM output values in microseconds to assign to the PWM outputs\n"
+	        "  <chanmask>         Directly supply alt rate channel mask\n"
 		"\n"
 		"When -c is specified, any channel groups not listed with -c will update at the default rate.\n"
 		);
@@ -96,11 +97,12 @@ pwm_main(int argc, char *argv[])
 	int ret;
 	char *ep;
 	unsigned group;
+	int32_t set_mask = -1;
 
 	if (argc < 2)
 		usage(NULL);
 
-	while ((ch = getopt(argc, argv, "c:d:u:v")) != EOF) {
+	while ((ch = getopt(argc, argv, "c:d:u:vm:")) != EOF) {
 		switch (ch) {
 		case 'c':
 			group = strtoul(optarg, &ep, 0);
@@ -120,6 +122,12 @@ pwm_main(int argc, char *argv[])
 				usage("bad alt_rate value");
 			break;
 
+		case 'm':
+			set_mask = strtol(optarg, &ep, 0);
+			if (*ep != '\0')
+				usage("bad set_mask value");
+			break;
+
 		case 'v':
 			print_info = true;
 			break;
@@ -143,6 +151,13 @@ pwm_main(int argc, char *argv[])
 			err(1, "PWM_SERVO_SET_UPDATE_RATE (check rate for sanity)");
 	}
 
+	/* directly supplied channel mask */
+	if (set_mask != -1) {
+		ret = ioctl(fd, PWM_SERVO_SELECT_UPDATE_RATE, set_mask);
+		if (ret != OK)
+			err(1, "PWM_SERVO_SELECT_UPDATE_RATE");
+	}
+
 	/* assign alternate rate to channel groups */
 	if (alt_channels_set) {
 		uint32_t mask = 0;
diff --git a/src/systemcmds/reboot/module.mk b/src/systemcmds/reboot/module.mk
new file mode 100644
index 000000000..19f64af54
--- /dev/null
+++ b/src/systemcmds/reboot/module.mk
@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# reboot command.
+#
+
+MODULE_COMMAND	 = reboot
+SRCS		 = reboot.c
+
+MAXOPTIMIZATION	 = -Os
diff --git a/apps/systemcmds/reboot/reboot.c b/src/systemcmds/reboot/reboot.c
index 47d3cd948..47d3cd948 100644
--- a/apps/systemcmds/reboot/reboot.c
+++ b/src/systemcmds/reboot/reboot.c
diff --git a/apps/examples/cdcacm/.context b/src/systemcmds/tests/.context
index e69de29bb..e69de29bb 100644
--- a/apps/examples/cdcacm/.context
+++ b/src/systemcmds/tests/.context
diff --git a/src/systemcmds/tests/module.mk b/src/systemcmds/tests/module.mk
new file mode 100644
index 000000000..754d3a0da
--- /dev/null
+++ b/src/systemcmds/tests/module.mk
@@ -0,0 +1,28 @@
+#
+# Assorted tests and the like
+#
+
+MODULE_COMMAND		 = tests
+MODULE_STACKSIZE	 = 12000
+MAXOPTIMIZATION		 = -Os
+
+SRCS			 = test_adc.c \
+			   test_bson.c \
+			   test_float.c \
+			   test_gpio.c \
+			   test_hott_telemetry.c \
+			   test_hrt.c \
+			   test_int.c \
+			   test_jig_voltages.c \
+			   test_led.c \
+			   test_sensors.c \
+			   test_servo.c \
+			   test_sleep.c \
+			   test_time.c \
+			   test_uart_baudchange.c \
+			   test_uart_console.c \
+			   test_uart_loopback.c \
+			   test_uart_send.c \
+			   tests_file.c \
+			   tests_main.c \
+			   tests_param.c
diff --git a/apps/px4/tests/test_adc.c b/src/systemcmds/tests/test_adc.c
index 030ac6e23..030ac6e23 100644
--- a/apps/px4/tests/test_adc.c
+++ b/src/systemcmds/tests/test_adc.c
diff --git a/apps/px4/tests/test_bson.c b/src/systemcmds/tests/test_bson.c
index 6130fe763..6130fe763 100644
--- a/apps/px4/tests/test_bson.c
+++ b/src/systemcmds/tests/test_bson.c
diff --git a/apps/px4/tests/test_float.c b/src/systemcmds/tests/test_float.c
index 4921c9bbb..4921c9bbb 100644
--- a/apps/px4/tests/test_float.c
+++ b/src/systemcmds/tests/test_float.c
diff --git a/apps/px4/tests/test_gpio.c b/src/systemcmds/tests/test_gpio.c
index ab536d956..ab536d956 100644
--- a/apps/px4/tests/test_gpio.c
+++ b/src/systemcmds/tests/test_gpio.c
diff --git a/apps/px4/tests/test_hott_telemetry.c b/src/systemcmds/tests/test_hott_telemetry.c
index 270dc3857..270dc3857 100644
--- a/apps/px4/tests/test_hott_telemetry.c
+++ b/src/systemcmds/tests/test_hott_telemetry.c
diff --git a/apps/px4/tests/test_hrt.c b/src/systemcmds/tests/test_hrt.c
index f21dd115b..f21dd115b 100644
--- a/apps/px4/tests/test_hrt.c
+++ b/src/systemcmds/tests/test_hrt.c
diff --git a/apps/px4/tests/test_int.c b/src/systemcmds/tests/test_int.c
index c59cee7b7..c59cee7b7 100644
--- a/apps/px4/tests/test_int.c
+++ b/src/systemcmds/tests/test_int.c
diff --git a/apps/px4/tests/test_jig_voltages.c b/src/systemcmds/tests/test_jig_voltages.c
index 10c93b264..10c93b264 100644
--- a/apps/px4/tests/test_jig_voltages.c
+++ b/src/systemcmds/tests/test_jig_voltages.c
diff --git a/apps/px4/tests/test_led.c b/src/systemcmds/tests/test_led.c
index 6e3efc668..6e3efc668 100644
--- a/apps/px4/tests/test_led.c
+++ b/src/systemcmds/tests/test_led.c
diff --git a/apps/px4/tests/test_sensors.c b/src/systemcmds/tests/test_sensors.c
index 14503276c..14503276c 100644
--- a/apps/px4/tests/test_sensors.c
+++ b/src/systemcmds/tests/test_sensors.c
diff --git a/apps/px4/tests/test_servo.c b/src/systemcmds/tests/test_servo.c
index f95760ca8..f95760ca8 100644
--- a/apps/px4/tests/test_servo.c
+++ b/src/systemcmds/tests/test_servo.c
diff --git a/apps/px4/tests/test_sleep.c b/src/systemcmds/tests/test_sleep.c
index ae682b542..ae682b542 100644
--- a/apps/px4/tests/test_sleep.c
+++ b/src/systemcmds/tests/test_sleep.c
diff --git a/apps/px4/tests/test_time.c b/src/systemcmds/tests/test_time.c
index 8a164f3fc..8a164f3fc 100644
--- a/apps/px4/tests/test_time.c
+++ b/src/systemcmds/tests/test_time.c
diff --git a/apps/px4/tests/test_uart_baudchange.c b/src/systemcmds/tests/test_uart_baudchange.c
index 609a65c62..609a65c62 100644
--- a/apps/px4/tests/test_uart_baudchange.c
+++ b/src/systemcmds/tests/test_uart_baudchange.c
diff --git a/apps/px4/tests/test_uart_console.c b/src/systemcmds/tests/test_uart_console.c
index f8582b52f..f8582b52f 100644
--- a/apps/px4/tests/test_uart_console.c
+++ b/src/systemcmds/tests/test_uart_console.c
diff --git a/apps/px4/tests/test_uart_loopback.c b/src/systemcmds/tests/test_uart_loopback.c
index 3be152004..3be152004 100644
--- a/apps/px4/tests/test_uart_loopback.c
+++ b/src/systemcmds/tests/test_uart_loopback.c
diff --git a/apps/px4/tests/test_uart_send.c b/src/systemcmds/tests/test_uart_send.c
index 7e1e8d307..7e1e8d307 100644
--- a/apps/px4/tests/test_uart_send.c
+++ b/src/systemcmds/tests/test_uart_send.c
diff --git a/apps/px4/tests/tests.h b/src/systemcmds/tests/tests.h
index c02ea6808..c02ea6808 100644
--- a/apps/px4/tests/tests.h
+++ b/src/systemcmds/tests/tests.h
diff --git a/apps/px4/tests/tests_file.c b/src/systemcmds/tests/tests_file.c
index 6f75b9812..6f75b9812 100644
--- a/apps/px4/tests/tests_file.c
+++ b/src/systemcmds/tests/tests_file.c
diff --git a/apps/px4/tests/tests_main.c b/src/systemcmds/tests/tests_main.c
index 9f8c5c9ea..9f8c5c9ea 100644
--- a/apps/px4/tests/tests_main.c
+++ b/src/systemcmds/tests/tests_main.c
diff --git a/apps/px4/tests/tests_param.c b/src/systemcmds/tests/tests_param.c
index 13f17bc43..13f17bc43 100644
--- a/apps/px4/tests/tests_param.c
+++ b/src/systemcmds/tests/tests_param.c
diff --git a/src/systemcmds/top/module.mk b/src/systemcmds/top/module.mk
new file mode 100644
index 000000000..9239aafc3
--- /dev/null
+++ b/src/systemcmds/top/module.mk
@@ -0,0 +1,44 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Build top memory / cpu status tool.
+#
+
+MODULE_COMMAND	 = top
+SRCS		 = top.c
+
+MODULE_STACKSIZE = 3000
+
+MAXOPTIMIZATION	 = -Os
+
diff --git a/apps/systemcmds/top/top.c b/src/systemcmds/top/top.c
index 59d2bc8f1..59d2bc8f1 100644
--- a/apps/systemcmds/top/top.c
+++ b/src/systemcmds/top/top.c