292 files changed, 2302 insertions, 2221 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/Makefile b/Makefile
index e9442afd2..8f566a002 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 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 11a4650fa..000000000
--- a/ROMFS/Makefile
+++ /dev/null
@@ -1,123 +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_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/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_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/mavlink/.context b/apps/mavlink/.context
deleted file mode 100644
index e69de29bb..000000000
--- a/apps/mavlink/.context
+++ /dev/null
diff --git a/apps/mavlink/Makefile b/apps/mavlink/Makefile
deleted file mode 100644
index 8ddb69b71..000000000
--- a/apps/mavlink/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
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-INCLUDES	 = $(TOPDIR)/../mavlink/include/mavlink
-
-include $(APPDIR)/mk/app.mk
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/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/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 c98e2c0e2..7f0e6005b 100644
--- a/apps/system/i2c/Makefile
+++ b/apps/system/i2c/Makefile
@@ -66,7 +66,7 @@ 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/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/calibration/Makefile b/apps/systemcmds/calibration/Makefile
deleted file mode 100644
index a1735962e..000000000
--- a/apps/systemcmds/calibration/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.
-#
-############################################################################
-
-#
-# Makefile to build the calibration tool
-#
-
-APPNAME		 = calibration
-PRIORITY	 = SCHED_PRIORITY_MAX - 1
-STACKSIZE	 = 4096
-
-include $(APPDIR)/mk/app.mk
-
-MAXOPTIMIZATION	 = -Os
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 79a05550e..000000000
--- a/apps/systemcmds/eeprom/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.
-#
-############################################################################
-
-#
-# Build the eeprom tool.
-#
-
-APPNAME		 = eeprom
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 4096
-
-include $(APPDIR)/mk/app.mk
-
-MAXOPTIMIZATION	 = -Os
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 98aadaa86..000000000
--- a/apps/systemcmds/preflight_check/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.
-#
-############################################################################
-
-#
-# Reboot command.
-#
-
-APPNAME		 = preflight_check
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-include $(APPDIR)/mk/app.mk
-
-MAXOPTIMIZATION	 = -Os
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/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 f58f9212e..000000000
--- a/apps/systemcmds/top/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.
-#
-############################################################################
-
-#
-# realtime system performance display
-#
-
-APPNAME		 = top
-PRIORITY	 = SCHED_PRIORITY_DEFAULT - 10
-STACKSIZE	 = 3000
-
-include $(APPDIR)/mk/app.mk
-
-MAXOPTIMIZATION	 = -Os
diff --git a/apps/systemlib/Makefile b/apps/systemlib/Makefile
index 8240dbe43..b2e233a92 100644
--- a/apps/systemlib/Makefile
+++ b/apps/systemlib/Makefile
@@ -44,17 +44,9 @@ CSRCS		 = err.c \
 		   cpuload.c \
 		   getopt_long.c \
 		   up_cxxinitialize.c \
-		   airspeed.c
-
-#		   ppm_decode.c \
-
-#
-# XXX this really should be a CONFIG_* test
-#
-ifeq ($(TARGET),px4fmu)
-CSRCS		+= systemlib.c \
 		   pid/pid.c \
-		   geo/geo.c
-endif
+		   geo/geo.c \
+		   systemlib.c \
+		   airspeed.c
 
 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..0767f7144
--- /dev/null
+++ b/makefiles/config_px4fmu_default.mk
@@ -0,0 +1,88 @@
+#
+# Makefile for the px4fmu_default configuration
+#
+
+#
+# Use the configuration's ROMFS.
+#
+ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_common
+
+#
+# Board support modules
+#
+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		+= 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/att_pos_estimator_ekf
+
+#
+# Logging
+#
+MODULES		+= modules/sdlog
+
+#
+# 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, adc,                    ,                          2048,  adc_main                   ) \
+	$(call _B, control_demo,           ,                          2048,  control_demo_main          ) \
+	$(call _B, fixedwing_att_control,  SCHED_PRIORITY_MAX-30,     2048,  fixedwing_att_control_main ) \
+	$(call _B, fixedwing_pos_control,  SCHED_PRIORITY_MAX-30,     2048,  fixedwing_pos_control_main ) \
+	$(call _B, math_demo,              ,                          8192,  math_demo_main             ) \
+	$(call _B, multirotor_att_control, SCHED_PRIORITY_MAX-15,     2048,  multirotor_att_control_main) \
+	$(call _B, multirotor_pos_control, SCHED_PRIORITY_MAX-25,     2048,  multirotor_pos_control_main) \
+	$(call _B, sercon,                 ,                          2048,  sercon_main                ) \
+	$(call _B, serdis,                 ,                          2048,  serdis_main                ) \
+	$(call _B, tone_alarm,             ,                          2048,  tone_alarm_main            ) \
+	$(call _B, uorb,                   ,                          4096,  uorb_main                  )
diff --git a/makefiles/config_px4io_default.mk b/makefiles/config_px4io_default.mk
new file mode 100644
index 000000000..dc774fe63
--- /dev/null
+++ b/makefiles/config_px4io_default.mk
@@ -0,0 +1,5 @@
+#
+# Makefile for the px4io_default configuration
+#
+
+# ... nothing here yet
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..538f6d318
--- /dev/null
+++ b/makefiles/module.mk
@@ -0,0 +1,230 @@
+#
+#   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.
+#
+
+#
+# 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 $(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/hott_telemetry/Makefile b/makefiles/nuttx.mk
index 8d5faa3b7..346735a02 100644
--- a/apps/hott_telemetry/Makefile
+++ b/makefiles/nuttx.mk
@@ -1,4 +1,3 @@
-############################################################################
 #
 #   Copyright (C) 2012 PX4 Development Team. All rights reserved.
 #
@@ -29,17 +28,51 @@
 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 #
-############################################################################
 
 #
-# Graupner HoTT Telemetry application.
+# Rules and definitions related to handling the NuttX export archives when
+# building firmware.
 #
 
-# The following line is required for accessing UARTs directly.
-INCLUDES	 = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
+#
+# Check that the NuttX archive for the selected board is available.
+#
+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
+
+#
+# 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
 
-APPNAME		 = hott_telemetry
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
+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..b798f7cab
--- /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_INCLUDE_DIR)
+
+# Include from legacy app/library path
+export INCLUDE_DIRS	+= $(NUTTX_APP_SRC)
+
+#
+# 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
+
+#
+# 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 $(V),,@)
diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk
new file mode 100644
index 000000000..5e6a5bf04
--- /dev/null
+++ b/makefiles/toolchain_gnu-arm-eabi.mk
@@ -0,0 +1,265 @@
+#
+#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+
+#
+# Definitions for a generic GNU ARM-EABI toolchain
+#
+
+#$(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) $(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) $(abspath $1) -o $2
+endef
+
+# Assemble $1 into $2
+#
+define ASSEMBLE
+	@$(ECHO) "AS:      $1"
+	@$(MKDIR) -p $(dir $2)
+	$(Q) $(CC) -c $(AFLAGS) $(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..f23d6ae41
--- /dev/null
+++ b/makefiles/upload.mk
@@ -0,0 +1,41 @@
+#
+# 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)
+	@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
+	@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
diff --git a/nuttx/configs/px4fmu/include/board.h b/nuttx/configs/px4fmu/include/board.h
index 0bc0b3021..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
@@ -321,6 +325,8 @@
 #define PX4_SPIDEV_ACCEL	2
 #define PX4_SPIDEV_MPU		3
 
+#define PX4_SPIDEV_ACCEL_MAG 2 // external for anti vibration test
+
 /*
  * Tone alarm output
  */
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..6e91f3d1a 100644
--- a/nuttx/configs/px4fmu/nsh/appconfig
+++ b/nuttx/configs/px4fmu/nsh/appconfig
@@ -65,7 +65,6 @@ 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
@@ -110,27 +109,24 @@ endif
 CONFIGURED_APPS += systemcmds/i2c
 
 # Communication and Drivers
-CONFIGURED_APPS += drivers/boards/px4fmu
+#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/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
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/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 3fabfd9a5..3fabfd9a5 100644
--- a/apps/drivers/blinkm/blinkm.cpp
+++ b/src/drivers/blinkm/blinkm.cpp
diff --git a/apps/examples/kalman_demo/Makefile b/src/drivers/blinkm/module.mk
index 6c592d645..b48b90f3f 100644
--- a/apps/examples/kalman_demo/Makefile
+++ b/src/drivers/blinkm/module.mk
@@ -32,11 +32,9 @@
 ############################################################################
 
 #
-# Full attitude / position Extended Kalman Filter
+# BlinkM I2C LED driver
 #
 
-APPNAME		 = kalman_demo
-PRIORITY	 = SCHED_PRIORITY_MAX - 30
-STACKSIZE	 = 2048
+MODULE_COMMAND	= blinkm
 
-include $(APPDIR)/mk/app.mk
+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/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 c150f5271..c150f5271 100644
--- a/apps/drivers/gps/ubx.cpp
+++ b/src/drivers/gps/ubx.cpp
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/apps/drivers/hmc5883/Makefile b/src/drivers/hil/module.mk
index 4d7cb4e7b..f8895f5d5 100644
--- a/apps/drivers/hmc5883/Makefile
+++ b/src/drivers/hil/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 @@
 ############################################################################
 
 #
-# HMC5883 driver
+# Hardware in the Loop (HIL) simulation actuator output bank
 #
 
-APPNAME		 = hmc5883
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 4096
+MODULE_COMMAND	= hil
 
-include $(APPDIR)/mk/app.mk
+SRCS		= hil.cpp
diff --git a/apps/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp
index 8ab568282..8ab568282 100644
--- a/apps/drivers/hmc5883/hmc5883.cpp
+++ b/src/drivers/hmc5883/hmc5883.cpp
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/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/apps/systemcmds/boardinfo/Makefile b/src/drivers/mpu6000/module.mk
index 6f1be149c..c7d9cd3ef 100644
--- a/apps/systemcmds/boardinfo/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 @@
 ############################################################################
 
 #
-# Build the boardinfo tool.
+# Makefile to build the MPU6000 driver.
 #
 
-APPNAME		 = boardinfo
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
+MODULE_COMMAND	= mpu6000
 
-include $(APPDIR)/mk/app.mk
+# XXX seems excessive, check if 2048 is not sufficient
+MODULE_STACKSIZE	 = 4096
 
-MAXOPTIMIZATION	 = -Os
+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/ms5611/Makefile b/src/drivers/ms5611/module.mk
index d8e67cba2..3c4b0f093 100644
--- a/apps/drivers/ms5611/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
@@ -35,8 +35,6 @@
 # MS5611 driver
 #
 
-APPNAME		 = ms5611
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
+MODULE_COMMAND	= ms5611
 
-include $(APPDIR)/mk/app.mk
+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..b21f83e44 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
diff --git a/apps/drivers/px4io/uploader.cpp b/src/drivers/px4io/uploader.cpp
index abf59216a..9a67875e8 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>
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/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/systemcmds/calibration/calibration.h b/src/include/visibility.h
index 028853ec8..2c6adc062 100644
--- a/apps/systemcmds/calibration/calibration.h
+++ b/src/include/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/apps/examples/kalman_demo/KalmanNav.cpp b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp
index 4ef150da1..4ef150da1 100644
--- a/apps/examples/kalman_demo/KalmanNav.cpp
+++ b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp
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.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
index 1a50dde0f..8e18c3c9a 100755
--- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+++ 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>
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 46a54c660..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
@@ -31,13 +31,14 @@
 #
 ############################################################################
 
-APPNAME		 = attitude_estimator_ekf
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
+#
+# Attitude estimator (Extended Kalman Filter)
+#
 
-CXXSRCS		 = attitude_estimator_ekf_main.cpp
+MODULE_COMMAND	 = attitude_estimator_ekf
 
-CSRCS		 = attitude_estimator_ekf_params.c \
+SRCS		 = attitude_estimator_ekf_main.cpp \
+		   attitude_estimator_ekf_params.c \
 		   codegen/eye.c \
 		   codegen/attitudeKalmanfilter.c \
 		   codegen/mrdivide.c \
@@ -48,10 +49,4 @@ CSRCS		 = attitude_estimator_ekf_params.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/apps/drivers/hil/Makefile b/src/modules/commander/module.mk
index 1fb6e37bc..556d5c2df 100644
--- a/apps/drivers/hil/Makefile
+++ b/src/modules/commander/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 @@
 ############################################################################
 
 #
-# Interface driver for the PX4FMU board
+# Main system state machine
 #
 
-APPNAME		 = hil
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-include $(APPDIR)/mk/app.mk
+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/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 22c2fcdad..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;
 
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/apps/ardrone_interface/Makefile b/src/modules/mavlink/module.mk
index fea96082f..cbf08aeb2 100644
--- a/apps/ardrone_interface/Makefile
+++ b/src/modules/mavlink/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 +32,16 @@
 ############################################################################
 
 #
-# Makefile to build ardrone interface
+# MAVLink protocol to uORB interface process
 #
 
-APPNAME		 = ardrone_interface
-PRIORITY	 = SCHED_PRIORITY_MAX - 15
-STACKSIZE	 = 2048
+MODULE_COMMAND	 = mavlink
+SRCS		 += mavlink.c \
+			   missionlib.c \
+			   mavlink_parameters.c \
+			   mavlink_log.c \
+			   mavlink_receiver.c \
+			   orb_listener.c \
+			   waypoints.c
 
-include $(APPDIR)/mk/app.mk
+INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink
diff --git a/apps/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c
index 5f15facf8..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"
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/apps/commander/Makefile b/src/modules/mavlink_onboard/module.mk
index d12697274..a7a4980fa 100644
--- a/apps/commander/Makefile
+++ b/src/modules/mavlink_onboard/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
+# MAVLink protocol to uORB interface process (XXX hack for onboard use)
 #
 
-APPNAME		 = commander
-PRIORITY	 = SCHED_PRIORITY_MAX - 30
-STACKSIZE	 = 2048
-
-INCLUDES	= $(TOPDIR)/../mavlink/include/mavlink
-
-include $(APPDIR)/mk/app.mk
+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/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/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/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/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/px4/tests/Makefile b/src/systemcmds/bl_update/module.mk
index 34f058be4..e8eea045e 100644
--- a/apps/px4/tests/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
@@ -32,13 +32,12 @@
 ############################################################################
 
 #
-# Makefile to build assorted test cases
+# Bootloader updater (flashes the FMU USB bootloader software)
 #
 
-APPNAME		 = tests
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 12000
+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/apps/systemcmds/reboot/Makefile b/src/systemcmds/boardinfo/module.mk
index 15dd19982..6851d229b 100644
--- a/apps/systemcmds/reboot/Makefile
+++ b/src/systemcmds/boardinfo/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 +32,10 @@
 ############################################################################
 
 #
-# Reboot command.
+# Information about FMU and IO boards connected
 #
 
-APPNAME		 = reboot
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-include $(APPDIR)/mk/app.mk
+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 3d8ac38cb..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
@@ -35,10 +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 f19cadbb6..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
@@ -35,10 +35,10 @@
 # Build the parameters tool.
 #
 
-APPNAME		 = param
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 4096
+MODULE_COMMAND	 = param
+SRCS		 = param.c
 
-include $(APPDIR)/mk/app.mk
+MODULE_STACKSIZE = 4096
 
 MAXOPTIMIZATION	 = -Os
+
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 f8bab41b6..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
@@ -35,10 +35,7 @@
 # perf_counter reporting tool
 #
 
-APPNAME		 = perf
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-include $(APPDIR)/mk/app.mk
+MODULE_COMMAND	 = perf
+SRCS		 = perf.c
 
 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/apps/systemcmds/bl_update/Makefile b/src/systemcmds/preflight_check/module.mk
index d05493577..7c3c88783 100644
--- a/apps/systemcmds/bl_update/Makefile
+++ b/src/systemcmds/preflight_check/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 +32,11 @@
 ############################################################################
 
 #
-# Build the eeprom tool.
+# Pre-flight check. Locks down system for a few systems with blinking leds
+# and buzzer if the sensors do not report an OK status.
 #
 
-APPNAME		 = bl_update
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 4096
-
-include $(APPDIR)/mk/app.mk
+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..de7a53199 100644
--- a/apps/systemcmds/pwm/pwm.c
+++ b/src/systemcmds/pwm/pwm.c
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/apps/systemcmds/delay_test/Makefile b/src/systemcmds/top/module.mk
index e54cf2f4e..9239aafc3 100644
--- a/apps/systemcmds/delay_test/Makefile
+++ b/src/systemcmds/top/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 +32,13 @@
 ############################################################################
 
 #
-# Delay test
+# Build top memory / cpu status tool.
 #
 
-APPNAME		 = delay_test
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
+MODULE_COMMAND	 = top
+SRCS		 = top.c
 
-include $(APPDIR)/mk/app.mk
+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