diff --git a/flight/PiOS/STM32F10x/pios_usb_rctx.c b/flight/PiOS/STM32F10x/pios_usb_rctx.c
new file mode 100644
index 000000000..e03ec8648
--- /dev/null
+++ b/flight/PiOS/STM32F10x/pios_usb_rctx.c
@@ -0,0 +1,192 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup   PIOS_USB_RCTX USB RC Transmitter/Joystick Functions
+ * @brief PIOS USB implementation for a HID Joystick
+ * @notes      This implements transmitter/joystick emulation over HID reports
+ * @{
+ *
+ * @file       pios_usb_rctx.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+/* Project Includes */
+#include "pios.h"
+
+#if defined(PIOS_INCLUDE_USB_RCTX)
+
+#include "pios_usb.h"
+#include "pios_usb_rctx_priv.h"
+
+/* STM32 USB Library Definitions */
+#include "usb_lib.h"
+
+#define PIOS_USB_RCTX_NUM_CHANNELS 8
+
+enum pios_usb_rctx_dev_magic {
+	PIOS_USB_RCTX_DEV_MAGIC = 0xAB98B745,
+};
+
+struct pios_usb_rctx_dev {
+	enum pios_usb_rctx_dev_magic     magic;
+	const struct pios_usb_rctx_cfg * cfg;
+
+	uint32_t lower_id;
+
+	struct {
+		uint8_t id;
+		uint16_t vals[PIOS_USB_RCTX_NUM_CHANNELS];
+	} __attribute__((packed)) report;
+};
+
+static bool PIOS_USB_RCTX_validate(struct pios_usb_rctx_dev * usb_rctx_dev)
+{
+	return (usb_rctx_dev->magic == PIOS_USB_RCTX_DEV_MAGIC);
+}
+
+#if defined(PIOS_INCLUDE_FREERTOS)
+static struct pios_usb_rctx_dev * PIOS_USB_RCTX_alloc(void)
+{
+	struct pios_usb_rctx_dev * usb_rctx_dev;
+
+	usb_rctx_dev = (struct pios_usb_rctx_dev *)pvPortMalloc(sizeof(*usb_rctx_dev));
+	if (!usb_rctx_dev) return(NULL);
+
+	usb_rctx_dev->magic = PIOS_USB_RCTX_DEV_MAGIC;
+	return(usb_rctx_dev);
+}
+#else
+static struct pios_usb_rctx_dev pios_usb_rctx_devs[PIOS_USB_RCTX_MAX_DEVS];
+static uint8_t pios_usb_rctx_num_devs;
+static struct pios_usb_rctx_dev * PIOS_USB_RCTX_alloc(void)
+{
+	struct pios_usb_rctx_dev * usb_rctx_dev;
+
+	if (pios_usb_rctx_num_devs >= PIOS_USB_RCTX_MAX_DEVS) {
+		return (NULL);
+	}
+
+	usb_rctx_dev = &pios_usb_rctx_devs[pios_usb_rctx_num_devs++];
+	usb_rctx_dev->magic = PIOS_USB_RCTX_DEV_MAGIC;
+
+	return (usb_rctx_dev);
+}
+#endif
+
+static void PIOS_USB_RCTX_EP_IN_Callback(void);
+static void PIOS_USB_RCTX_SendReport(struct pios_usb_rctx_dev * usb_rctx_dev);
+
+/* Need a better way to pull these in */
+extern void (*pEpInt_IN[7])(void);
+
+int32_t PIOS_USB_RCTX_Init(uint32_t * usbrctx_id, const struct pios_usb_rctx_cfg * cfg, uint32_t lower_id)
+{
+	PIOS_Assert(usbrctx_id);
+	PIOS_Assert(cfg);
+
+	struct pios_usb_rctx_dev * usb_rctx_dev;
+
+	usb_rctx_dev = (struct pios_usb_rctx_dev *) PIOS_USB_RCTX_alloc();
+	if (!usb_rctx_dev) goto out_fail;
+
+	/* Bind the configuration to the device instance */
+	usb_rctx_dev->cfg = cfg;
+	usb_rctx_dev->lower_id = lower_id;
+
+	/* Set the initial report buffer */
+	memset(&usb_rctx_dev->report, 0, sizeof(usb_rctx_dev->report));
+
+	pEpInt_IN[cfg->data_tx_ep - 1] = PIOS_USB_RCTX_EP_IN_Callback;
+
+	*usbrctx_id = (uint32_t) usb_rctx_dev;
+
+	return 0;
+
+out_fail:
+	return -1;
+}
+
+static void PIOS_USB_RCTX_SendReport(struct pios_usb_rctx_dev * usb_rctx_dev)
+{
+#if defined(PIOS_INCLUDE_FREERTOS)
+	bool need_yield = false;
+#endif	/* PIOS_INCLUDE_FREERTOS */
+
+	usb_rctx_dev->report.id = 3; /* FIXME: shouldn't hard-code this report ID */
+
+	UserToPMABufferCopy((uint8_t *) &usb_rctx_dev->report,
+			GetEPTxAddr(usb_rctx_dev->cfg->data_tx_ep),
+			sizeof(usb_rctx_dev->report));
+
+	SetEPTxCount(usb_rctx_dev->cfg->data_tx_ep, sizeof(usb_rctx_dev->report));
+	SetEPTxValid(usb_rctx_dev->cfg->data_tx_ep);
+
+#if defined(PIOS_INCLUDE_FREERTOS)
+	if (need_yield) {
+		vPortYieldFromISR();
+	}
+#endif	/* PIOS_INCLUDE_FREERTOS */
+}
+
+static void PIOS_USB_RCTX_EP_IN_Callback(void)
+{
+	struct pios_usb_rctx_dev * usb_rctx_dev = (struct pios_usb_rctx_dev *)pios_usb_rctx_id;
+
+	bool valid = PIOS_USB_RCTX_validate(usb_rctx_dev);
+	PIOS_Assert(valid);
+
+	if (!PIOS_USB_CheckAvailable(usb_rctx_dev->lower_id)) {
+		return;
+	}
+
+	PIOS_USB_RCTX_SendReport(usb_rctx_dev);
+}
+
+void PIOS_USB_RCTX_Update(uint32_t usbrctx_id, const float channels[], uint8_t num_channels)
+{
+	struct pios_usb_rctx_dev * usb_rctx_dev = (struct pios_usb_rctx_dev *)usbrctx_id;
+
+	bool valid = PIOS_USB_RCTX_validate(usb_rctx_dev);
+	PIOS_Assert(valid);
+
+	if (!PIOS_USB_CheckAvailable(usb_rctx_dev->lower_id)) {
+		return;
+	}
+
+	for (uint8_t i = 0; 
+	     i < PIOS_USB_RCTX_NUM_CHANNELS && i < num_channels;
+	     i++) {
+		/* 
+		 * Scaled channels range from -1 to +1.  
+		 * Move them to the USB HID range of 0 to 65535. 
+		 */
+		usb_rctx_dev->report.vals[i] = (uint16_t) (32767.0f + (channels[i] * 32767.0f));
+	}
+
+	if (GetEPTxStatus(usb_rctx_dev->cfg->data_tx_ep) == EP_TX_VALID) {
+		/* Endpoint is already transmitting */
+		return;
+	}
+
+	PIOS_USB_RCTX_SendReport(usb_rctx_dev);
+}
+
+#endif	/* PIOS_INCLUDE_USB_RCTX */