diff --git a/flight/Modules/Airspeed/revolution/airspeed.c b/flight/Modules/Airspeed/revolution/airspeed.c
index dcd3db0f6..fd1479d0f 100644
--- a/flight/Modules/Airspeed/revolution/airspeed.c
+++ b/flight/Modules/Airspeed/revolution/airspeed.c
@@ -30,84 +30,40 @@
  */
 
 /**
- * Output object: BaroAirspeed
+ * Output object: AirspeedSensor
  *
- * This module will periodically update the value of the BaroAirspeed object.
+ * This module will periodically update the value of the AirspeedSensor object.
  *
  */
 
 #include "openpilot.h"
 #include "hwsettings.h"
-#include "airspeed.h"
-#include "gpsvelocity.h"
 #include "airspeedsettings.h"
-#include "gps_airspeed.h"
-#include "baroaltitude.h"
-#include "baroairspeed.h" // object that will be updated by the module
-#include "airspeedactual.h" // object that will be updated by the module
-#include "attitudeactual.h"
-#include "CoordinateConversions.h"
+#include "airspeedsensor.h" // object that will be updated by the module
 #include "baro_airspeed_etasv3.h"
-#include "baro_airspeed_analog.h"
+#include "baro_airspeed_mpxv.h"
 
 // Private constants
-#if defined (PIOS_INCLUDE_GPS)
- #define GPS_AIRSPEED_PRESENT
-#endif
 
-#if defined (PIOS_INCLUDE_MPXV5004) || defined (PIOS_INCLUDE_MPXV7002) || defined (PIOS_INCLUDE_ETASV3)
- #define BARO_AIRSPEED_PRESENT
-#endif
-
-#if defined (GPS_AIRSPEED_PRESENT) && defined (BARO_AIRSPEED_PRESENT)
- #define STACK_SIZE_BYTES 700 
-#elif defined (GPS_AIRSPEED_PRESENT)
- #define STACK_SIZE_BYTES 600
-#elif defined (BARO_AIRSPEED_PRESENT)
- #define STACK_SIZE_BYTES 550
-#else
- #define STACK_SIZE_BYTES 0
- #define NO_AIRSPEED_SENSOR_PRESENT
-#endif
+#define STACK_SIZE_BYTES 500
 
 
 #define TASK_PRIORITY (tskIDLE_PRIORITY+1)
 
-#define SAMPLING_DELAY_MS_FALLTHROUGH  50     //Fallthrough update at 20Hz. The fallthrough runs faster than the GPS to ensure that we don't miss GPS updates because we're slightly out of sync
-
-#define GPS_AIRSPEED_BIAS_KP                   0.01f //Needs to be settable in a UAVO
-#define GPS_AIRSPEED_BIAS_KI                   0.01f //Needs to be settable in a UAVO
-#define GPS_AIRSPEED_TIME_CONSTANT_MS        500.0f  //Needs to be settable in a UAVO
-#define BARO_TRUEAIRSPEED_TIME_CONSTANT_S      1.0f  //Needs to be settable in a UAVO
-
-#define F_PI 3.141526535897932f
-#define DEG2RAD (F_PI/180.0f)
-#define T0 288.15f
-#define BARO_TEMPERATURE_OFFSET 5
-
 // Private types
 
 // Private variables
 static xTaskHandle taskHandle;
 static bool airspeedEnabled = false;
-volatile bool gpsNew = false;
-static uint8_t airspeedSensorType;
-static uint16_t gpsSamplePeriod_ms;
+static AirspeedSettingsData airspeedSettings;
 
-#ifdef BARO_AIRSPEED_PRESENT
 static int8_t airspeedADCPin=-1;
-#endif
 
 
 // Private functions
 static void airspeedTask(void *parameters);
-void baro_airspeedGet(BaroAirspeedData *baroAirspeedData, portTickType *lastSysTime, uint8_t airspeedSensorType, int8_t airspeedADCPin);
 static void AirspeedSettingsUpdatedCb(UAVObjEvent * ev);
 
-#ifdef GPS_AIRSPEED_PRESENT
-static void GPSVelocityUpdatedCb(UAVObjEvent * ev);
-#endif
-
 
 /**
  * Initialise the module, called on startup
@@ -115,9 +71,6 @@ static void GPSVelocityUpdatedCb(UAVObjEvent * ev);
  */
 int32_t AirspeedStart()
 {	
-#if defined (NO_AIRSPEED_SENSOR_PRESENT)
-	return -1;
-#endif	
 	
 	//Check if module is enabled or not
 	if (airspeedEnabled == false) {
@@ -153,7 +106,6 @@ int32_t AirspeedInitialize()
 	}
 #endif
 	
-#ifdef BARO_AIRSPEED_PRESENT
 	uint8_t adcRouting[HWSETTINGS_ADCROUTING_NUMELEM];	
 	HwSettingsADCRoutingGet(adcRouting);
 	
@@ -164,10 +116,7 @@ int32_t AirspeedInitialize()
 		}
 	}
 	
-#endif	
-	
-	BaroAirspeedInitialize();
-	AirspeedActualInitialize();
+	AirspeedSensorInitialize();
 	AirspeedSettingsInitialize();
 	
 	AirspeedSettingsConnectCallback(AirspeedSettingsUpdatedCb);	
@@ -184,198 +133,54 @@ static void airspeedTask(void *parameters)
 {
 	AirspeedSettingsUpdatedCb(AirspeedSettingsHandle());
 	
-	BaroAirspeedData airspeedData;
-	AirspeedActualData airspeedActualData;
-	BaroAirspeedGet(&airspeedData);
-	AirspeedActualGet(&airspeedActualData);
+	AirspeedSensorData airspeedData;
+	AirspeedSensorGet(&airspeedData);
+
+	AirspeedSettingsUpdatedCb(NULL);
 
 
-	airspeedData.BaroConnected = BAROAIRSPEED_BAROCONNECTED_FALSE;
-	
-#ifdef BARO_AIRSPEED_PRESENT		
-	portTickType lastGPSTime = xTaskGetTickCount(); //Time since last GPS-derived airspeed calculation
-	portTickType lastLoopTime= xTaskGetTickCount(); //Time since last loop
-
-	float airspeedErrInt=0;
-#endif
-	
-	//GPS airspeed calculation variables
-#ifdef GPS_AIRSPEED_PRESENT
-	GPSVelocityConnectCallback(GPSVelocityUpdatedCb);		
-	gps_airspeedInitialize();
-#endif
+	airspeedData.SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
 	
 	// Main task loop
 	portTickType lastSysTime = xTaskGetTickCount();
 	while (1)
 	{
+		vTaskDelayUntil(&lastSysTime, airspeedSettings.SamplePeriod / portTICK_RATE_MS);
+		
 		// Update the airspeed object
-		BaroAirspeedGet(&airspeedData);
-		AirspeedActualGet(&airspeedActualData);
-		
-#ifdef BARO_AIRSPEED_PRESENT
-		float airspeed_tas_baro=0;
-		
-		if(airspeedSensorType!=AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_GPSONLY){
-			//Fetch calibrated airspeed from sensors
-			baro_airspeedGet(&airspeedData, &lastSysTime, airspeedSensorType, airspeedADCPin);
-			
-			//Calculate true airspeed, not taking into account compressibility effects
-			float baroTemperature;
-			
-			BaroAltitudeTemperatureGet(&baroTemperature);
-			baroTemperature-=BARO_TEMPERATURE_OFFSET; //Do this just because we suspect that the board heats up relative to its surroundings. THIS IS BAD(tm)
- #ifdef GPS_AIRSPEED_PRESENT
-			//GPS present, so use baro sensor to filter TAS
-			airspeed_tas_baro=airspeedData.CalibratedAirspeed * sqrtf((baroTemperature+273.15)/T0) + airspeedErrInt * GPS_AIRSPEED_BIAS_KI;
- #else
-			//No GPS, so TAS comes only from baro sensor
-			airspeedData.TrueAirspeed=airspeedData.CalibratedAirspeed * sqrtf((baroTemperature+273.15)/T0) + airspeedErrInt * GPS_AIRSPEED_BIAS_KI;
- #endif			
-			
-		}
-		else
-#endif
-		{ //Have to catch the fallthrough, or else this loop will monopolize the processor!
-			airspeedData.BaroConnected=BAROAIRSPEED_BAROCONNECTED_FALSE;
-			airspeedData.SensorValue=12345;
-			
-			//Likely, we have a GPS, so let's configure the fallthrough at close to GPS refresh rates
-			vTaskDelayUntil(&lastSysTime, SAMPLING_DELAY_MS_FALLTHROUGH / portTICK_RATE_MS);
-		}
-		
-#ifdef GPS_AIRSPEED_PRESENT
-		float v_air_GPS=-1.0f;
-		
-		//Check if sufficient time has passed. This will depend on whether we have a pitot tube
-		//sensor or not. In the case we do, shoot for about once per second. Otherwise, consume GPS
-		//as quickly as possible.
- #ifdef BARO_AIRSPEED_PRESENT
-		float delT = (lastSysTime - lastLoopTime)/(portTICK_RATE_MS*1000.0f);
-		lastLoopTime=lastSysTime;
-		if ( ((lastSysTime - lastGPSTime) > 1000*portTICK_RATE_MS || airspeedSensorType==AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_GPSONLY)
-				&& gpsNew) {
-			lastGPSTime=lastSysTime;
- #else
-		if (gpsNew)	{				
- #endif
-			gpsNew=false; //Do this first
+		AirspeedSensorGet(&airspeedData);
 
-			//Calculate airspeed as a function of GPS groundspeed and vehicle attitude. From "IMU Wind Estimation (Theory)", by William Premerlani
-			gps_airspeedGet(&v_air_GPS);
-		}
-		
-			
-		//Use the GPS error to correct the airspeed estimate.
-		if (v_air_GPS > 0) //We have valid GPS estimate...
-		{
-			airspeedData.GPSAirspeed=v_air_GPS;
-
- #ifdef BARO_AIRSPEED_PRESENT
-			if(airspeedData.BaroConnected==BAROAIRSPEED_BAROCONNECTED_TRUE){ //Check if there is an airspeed sensors present...
-				//Calculate error and error integral
-				float airspeedErr=v_air_GPS - airspeed_tas_baro;
-				airspeedErrInt+=airspeedErr * delT;
-				
-				//Saturate integral component at 5 m/s
-				airspeedErrInt = airspeedErrInt >  (5.0f / GPS_AIRSPEED_BIAS_KI) ?  (5.0f / GPS_AIRSPEED_BIAS_KI) : airspeedErrInt;
-				airspeedErrInt = airspeedErrInt < -(5.0f / GPS_AIRSPEED_BIAS_KI) ? -(5.0f / GPS_AIRSPEED_BIAS_KI) : airspeedErrInt;
-							
-				//There's already an airspeed sensor, so instead correct it for bias with P correction. The I correction happened earlier in the function.
-				airspeedData.TrueAirspeed = airspeed_tas_baro + airspeedErr * GPS_AIRSPEED_BIAS_KP;
-				
-				
-				/* Note: 
-				      This would be a good place to change the airspeed calibration, so that it matches the GPS computed values. However,
-				      this might be a bad idea, as their are two degrees of freedom here: temperature and sensor calibration. I don't 
-				      know how to control for temperature bias.
-				 */
-			}
-			else
- #endif
-			{
-				//...there's no airspeed sensor, so everything comes from GPS. In this
-				//case, filter the airspeed for smoother output
-				float alpha=gpsSamplePeriod_ms/(gpsSamplePeriod_ms + GPS_AIRSPEED_TIME_CONSTANT_MS); //Low pass filter.
-				airspeedData.TrueAirspeed=v_air_GPS*(alpha) + airspeedData.TrueAirspeed*(1.0f-alpha);
-				
-				//Calculate calibrated airspeed from GPS, since we're not getting it from a discrete airspeed sensor
-				float baroTemperature;
-				BaroAltitudeTemperatureGet(&baroTemperature);
-				baroTemperature-=BARO_TEMPERATURE_OFFSET; //Do this just because we suspect that the board heats up relative to its surroundings. THIS IS BAD(tm)
-				airspeedData.CalibratedAirspeed =airspeedData.TrueAirspeed / sqrtf((baroTemperature+273.15)/T0);
-			}			
-		}
- #ifdef BARO_AIRSPEED_PRESENT
-		else if (airspeedData.BaroConnected==BAROAIRSPEED_BAROCONNECTED_TRUE){
-			//No GPS velocity estimate this loop, so filter true airspeed data with baro airspeed
-			float alpha=delT/(delT + BARO_TRUEAIRSPEED_TIME_CONSTANT_S); //Low pass filter.
-			airspeedData.TrueAirspeed=airspeed_tas_baro*(alpha) + airspeedData.TrueAirspeed*(1.0f-alpha);
-		}
- #endif
-#endif
-		//Set the UAVO
-		airspeedActualData.TrueAirspeed = airspeedData.TrueAirspeed;
-		airspeedActualData.CalibratedAirspeed = airspeedData.CalibratedAirspeed;
-		BaroAirspeedSet(&airspeedData);
-		AirspeedActualSet(&airspeedActualData);
-			
-	}
-}
-
-	
-#ifdef GPS_AIRSPEED_PRESENT
-static void GPSVelocityUpdatedCb(UAVObjEvent * ev)
-{
-	gpsNew=true;
-}
-#endif
-
-void baro_airspeedGet(BaroAirspeedData *baroAirspeedData, portTickType *lastSysTime, uint8_t airspeedSensorType, int8_t airspeedADCPin){
-	
-	//Find out which sensor we're using.
-	switch (airspeedSensorType) {
-#if defined(PIOS_INCLUDE_MPXV7002)
-		case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV7002:
-#endif
-#if defined(PIOS_INCLUDE_MPXV5004)
-		case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV5004:
-#endif
-#if defined(PIOS_INCLUDE_MPXV7002) || defined(PIOS_INCLUDE_MPXV5004)
-			//MPXV5004 and MPXV7002 sensors
-			baro_airspeedGetAnalog(baroAirspeedData, lastSysTime, airspeedSensorType, airspeedADCPin);
-			break;
+		switch (airspeedSettings.AirspeedSensorType) {
+#if defined(PIOS_INCLUDE_MPXV)
+			case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV7002:
+			case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV5004:
+				//MPXV5004 and MPXV7002 sensors
+				baro_airspeedGetMPXV(&airspeedData, &airspeedSettings,airspeedADCPin);
+				break;
 #endif
 #if defined(PIOS_INCLUDE_ETASV3)
-		case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_EAGLETREEAIRSPEEDV3:
-			//Eagletree Airspeed v3
-			baro_airspeedGetETASV3(baroAirspeedData, lastSysTime, airspeedSensorType, airspeedADCPin);
-			break;
+			case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_EAGLETREEAIRSPEEDV3:
+				//Eagletree Airspeed v3
+				baro_airspeedGetETASV3(&airspeedData, &airspeedSettings);
+				break;
 #endif
-		default:
-			baroAirspeedData->BaroConnected = BAROAIRSPEED_BAROCONNECTED_FALSE;
+			default:
+				airspeedData.SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
+		}
+
+		//Set the UAVO
+		AirspeedSensorSet(&airspeedData);
+			
 	}
 }
 
+	
+
 
 static void AirspeedSettingsUpdatedCb(UAVObjEvent * ev)
 {
-	AirspeedSettingsData airspeedSettingsData;
-	AirspeedSettingsGet(&airspeedSettingsData);
+	AirspeedSettingsGet(&airspeedSettings);
 	
-	airspeedSensorType=airspeedSettingsData.AirspeedSensorType;
-	gpsSamplePeriod_ms=airspeedSettingsData.GPSSamplePeriod_ms;
-	
-#if defined(PIOS_INCLUDE_MPXV7002)
-	if (airspeedSensorType==AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV7002){
-		PIOS_MPXV7002_UpdateCalibration(airspeedSettingsData.ZeroPoint); //This makes sense for the user if the initial calibration was not good and the user does not wish to reboot.
-	}
-#endif
-#if defined(PIOS_INCLUDE_MPXV5004)
-	if (airspeedSensorType==AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV5004){
-		PIOS_MPXV5004_UpdateCalibration(airspeedSettingsData.ZeroPoint); //This makes sense for the user if the initial calibration was not good and the user does not wish to reboot.
-	}
-#endif
 }
 	
 	
diff --git a/flight/Modules/Airspeed/revolution/baro_airspeed_analog.c b/flight/Modules/Airspeed/revolution/baro_airspeed_analog.c
deleted file mode 100644
index c5bbac3d6..000000000
--- a/flight/Modules/Airspeed/revolution/baro_airspeed_analog.c
+++ /dev/null
@@ -1,143 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotModules OpenPilot Modules
- * @{ 
- * @addtogroup AirspeedModule Airspeed Module
- * @brief Communicate with airspeed sensors and return values
- * @{ 
- *
- * @file       baro_airspeed.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Airspeed module, handles temperature and pressure readings from BMP085
- *
- * @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
- */
-
-/**
- * Output object: BaroAirspeed
- *
- * This module will periodically update the value of the BaroAirspeed object.
- *
- */
-
-#include "openpilot.h"
-#include "hwsettings.h"
-#include "airspeed.h"
-#include "airspeedsettings.h"
-#include "baroairspeed.h"	// object that will be updated by the module
-
-#if defined(PIOS_INCLUDE_MPXV7002) || defined (PIOS_INCLUDE_MPXV5004)
-
-#define SAMPLING_DELAY_MS_MPXV                  10     //Update at 100Hz
-#define CALIBRATION_IDLE_MS                     2000   //Time to wait before calibrating, in [ms]
-#define CALIBRATION_COUNT_MS                    2000   //Time to spend calibrating, in [ms]
-#define ANALOG_BARO_AIRSPEED_TIME_CONSTANT_MS   100.0f //Needs to be settable in a UAVO
-
-// Private types
-
-// Private variables
-
-// Private functions
-
-static uint16_t calibrationCount=0;
-
-
-void baro_airspeedGetAnalog(BaroAirspeedData *baroAirspeedData, portTickType *lastSysTime, uint8_t airspeedSensorType, int8_t airspeedADCPin){
-
-		//Ensure that the ADC pin is properly configured
-		if(airspeedADCPin <0){ //It's not, so revert to former sensor type
-			baroAirspeedData->BaroConnected = BAROAIRSPEED_BAROCONNECTED_FALSE;
-			
-			return;
-		}
-		//Wait until our turn //THIS SHOULD BE, IF OUR TURN GO IN, OTHERWISE CONTINUE
-		vTaskDelayUntil(lastSysTime, SAMPLING_DELAY_MS_MPXV / portTICK_RATE_MS);
-				
-		//Calibrate sensor by averaging zero point value //THIS SHOULD NOT BE DONE IF THERE IS AN IN-AIR RESET. HOW TO DETECT THIS?
-		if (calibrationCount < CALIBRATION_IDLE_MS/SAMPLING_DELAY_MS_MPXV) { //First let sensor warm up and stabilize.
-			calibrationCount++;
-			return;
-		} else if (calibrationCount <= (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS)/SAMPLING_DELAY_MS_MPXV) { //Then compute the average.
-			calibrationCount++; /*DO NOT MOVE FROM BEFORE sensorCalibration=... LINE, OR ELSE WILL HAVE DIVIDE BY ZERO */
-
-			uint16_t sensorCalibration;
-			if(airspeedSensorType==AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV7002){
-				sensorCalibration=PIOS_MPXV7002_Calibrate(airspeedADCPin, calibrationCount-CALIBRATION_IDLE_MS/SAMPLING_DELAY_MS_MPXV);
-				PIOS_MPXV7002_UpdateCalibration(sensorCalibration); //This makes sense for the user if the initial calibration was not good and the user does not wish to reboot.
-			}
-			else if(airspeedSensorType==AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV5004){
-				sensorCalibration=PIOS_MPXV5004_Calibrate(airspeedADCPin, calibrationCount-CALIBRATION_IDLE_MS/SAMPLING_DELAY_MS_MPXV);
-				PIOS_MPXV5004_UpdateCalibration(sensorCalibration); //This makes sense for the user if the initial calibration was not good and the user does not wish to reboot.
-			}
-
-
-			baroAirspeedData->BaroConnected = BAROAIRSPEED_BAROCONNECTED_TRUE;
-			
-			//Set settings UAVO. The airspeed UAVO is set elsewhere in the function.
-			if (calibrationCount == (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS)/SAMPLING_DELAY_MS_MPXV)
-				AirspeedSettingsZeroPointSet(&sensorCalibration);
-			
-			return;
-		}
-		
-		//Get CAS
-		float calibratedAirspeed=0;
-		if(airspeedSensorType==AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV7002){
-			calibratedAirspeed = PIOS_MPXV7002_ReadAirspeed(airspeedADCPin);
-			if (calibratedAirspeed < 0) //This only occurs when there's a bad ADC reading. 
-				return;
-		
-			//Get sensor value, just for telemetry purposes. 
-			//This is a silly waste of resources, and should probably be removed at some point in the future.
-			//At this time, PIOS_MPXV7002_Measure() should become a static function and be removed from the header file.
-			//
-			//Moreover, due to the way the ADC driver is currently written, this code will return 0 more often than
-			//not. This is something that will have to change on the ADC side of things.
-			baroAirspeedData->SensorValue=PIOS_MPXV7002_Measure(airspeedADCPin);
-		
-		}
-		else if(airspeedSensorType==AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV5004){
-			calibratedAirspeed = PIOS_MPXV5004_ReadAirspeed(airspeedADCPin);
-			if (calibratedAirspeed < 0) //This only occurs when there's a bad ADC reading. 
-				return;
-			
-			//Get sensor value, just for telemetry purposes. 
-			//This is a silly waste of resources, and should probably be removed at some point in the future.
-			//At this time, PIOS_MPXV7002_Measure() should become a static function and be removed from the header file.
-			//
-			//Moreover, due to the way the ADC driver is currently written, this code will return 0 more often than
-			//not. This is something that will have to change on the ADC side of things.
-			baroAirspeedData->SensorValue=PIOS_MPXV5004_Measure(airspeedADCPin);			
-
-		}
-		//Filter CAS
-		float alpha=SAMPLING_DELAY_MS_MPXV/(SAMPLING_DELAY_MS_MPXV + ANALOG_BARO_AIRSPEED_TIME_CONSTANT_MS); //Low pass filter.
-		float filteredAirspeed = calibratedAirspeed*(alpha) + baroAirspeedData->CalibratedAirspeed*(1.0f-alpha);
-		
-		//Set two values, one for the UAVO airspeed sensor reading, and the other for the GPS corrected one
-		baroAirspeedData->CalibratedAirspeed = filteredAirspeed;
-
-}
-
-#endif
-
-/**
- * @}
- * @}
- */
diff --git a/flight/Modules/Airspeed/revolution/baro_airspeed_etasv3.c b/flight/Modules/Airspeed/revolution/baro_airspeed_etasv3.c
index 07c58dc85..5da2e2810 100644
--- a/flight/Modules/Airspeed/revolution/baro_airspeed_etasv3.c
+++ b/flight/Modules/Airspeed/revolution/baro_airspeed_etasv3.c
@@ -38,17 +38,13 @@
 
 #include "openpilot.h"
 #include "hwsettings.h"
-#include "airspeed.h"
 #include "airspeedsettings.h"
-#include "baroairspeed.h"	// object that will be updated by the module
+#include "airspeedsensor.h"	// object that will be updated by the module
 
 #if defined(PIOS_INCLUDE_ETASV3)
 
-#define SAMPLING_DELAY_MS_ETASV3                50     //Update at 20Hz
-#define ETS_AIRSPEED_SCALE                      1.0f   //???
 #define CALIBRATION_IDLE_MS                     2000   //Time to wait before calibrating, in [ms]
 #define CALIBRATION_COUNT_MS                    2000   //Time to spend calibrating, in [ms]
-#define ANALOG_BARO_AIRSPEED_TIME_CONSTANT_MS   100.0f //Needs to be settable in a UAVO
 
 // Private types
 
@@ -57,47 +53,43 @@
 // Private functions
 
 static uint16_t calibrationCount=0;
+static uint16_t calibrationCount2=0;
+static uint32_t calibrationSum = 0;
 
 
-void baro_airspeedGetETASV3(BaroAirspeedData *baroAirspeedData, portTickType *lastSysTime, uint8_t airspeedSensorType, int8_t airspeedADCPin){
+void baro_airspeedGetETASV3(AirspeedSensorData *airspeedSensor, AirspeedSettingsData *airspeedSettings){
 
-	static uint32_t calibrationSum = 0;
-	AirspeedSettingsData airspeedSettingsData;
-	AirspeedSettingsGet(&airspeedSettingsData);
-
-	//Wait until our turn. //THIS SHOULD BE, IF OUR TURN GO IN, OTHERWISE CONTINUE
-	vTaskDelayUntil(lastSysTime, SAMPLING_DELAY_MS_ETASV3 / portTICK_RATE_MS);
-	
-	//Check to see if airspeed sensor is returning baroAirspeedData
-	baroAirspeedData->SensorValue = PIOS_ETASV3_ReadAirspeed();
-	if (baroAirspeedData->SensorValue==-1) {
-		baroAirspeedData->BaroConnected = BAROAIRSPEED_BAROCONNECTED_FALSE;
-		baroAirspeedData->CalibratedAirspeed = 0;
-		BaroAirspeedSet(&baroAirspeedData);
+	//Check to see if airspeed sensor is returning airspeedSensor
+	airspeedSensor->SensorValue = PIOS_ETASV3_ReadAirspeed();
+	if (airspeedSensor->SensorValue==-1) {
+		airspeedSensor->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
+		airspeedSensor->CalibratedAirspeed = 0;
 		return;
 	}
 	
-	//Calibrate sensor by averaging zero point value //THIS SHOULD NOT BE DONE IF THERE IS AN IN-AIR RESET. HOW TO DETECT THIS?
-	if (calibrationCount < CALIBRATION_IDLE_MS/SAMPLING_DELAY_MS_ETASV3) {
-		calibrationCount++;
-		return;
-	} else if (calibrationCount < (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS)/SAMPLING_DELAY_MS_ETASV3) {
-		calibrationCount++;
-		calibrationSum +=  baroAirspeedData->SensorValue;
-		if (calibrationCount == (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS)/SAMPLING_DELAY_MS_ETASV3) {
+	// only calibrate if no stored calibration is available
+	if (!airspeedSettings->ZeroPoint) {
+		//Calibrate sensor by averaging zero point value
+		if (calibrationCount <= CALIBRATION_IDLE_MS/airspeedSettings->SamplePeriod) {
+			calibrationCount++;
+			calibrationCount2++;
+			return;
+		} else if (calibrationCount <= (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS)/airspeedSettings->SamplePeriod) {
+			calibrationCount++;
+			calibrationCount2++;
+			calibrationSum +=  airspeedSensor->SensorValue;
+			if (calibrationCount > (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS)/airspeedSettings->SamplePeriod) {
 
-			airspeedSettingsData.ZeroPoint = (int16_t) (((float)calibrationSum) / CALIBRATION_COUNT_MS +0.5f);
-			AirspeedSettingsZeroPointSet( &airspeedSettingsData.ZeroPoint );
-		} else {
+				airspeedSettings->ZeroPoint = (int16_t) (((float)calibrationSum) / calibrationCount2);
+				AirspeedSettingsZeroPointSet( &airspeedSettings->ZeroPoint );
+			}
 			return;
 		}
 	}
 	
 	//Compute airspeed
-	float calibratedAirspeed = ETS_AIRSPEED_SCALE * sqrtf((float)abs(baroAirspeedData->SensorValue - airspeedSettingsData.ZeroPoint)); //Is this calibrated or indicated airspeed?
-	
-	baroAirspeedData->BaroConnected = BAROAIRSPEED_BAROCONNECTED_TRUE;
-	baroAirspeedData->CalibratedAirspeed = calibratedAirspeed;
+	airspeedSensor->CalibratedAirspeed = airspeedSettings->Scale * sqrtf((float)abs(airspeedSensor->SensorValue - airspeedSettings->ZeroPoint));
+	airspeedSensor->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_TRUE;
 }
 
 
diff --git a/flight/Modules/Airspeed/revolution/baro_airspeed_mpxv.c b/flight/Modules/Airspeed/revolution/baro_airspeed_mpxv.c
new file mode 100644
index 000000000..540a4a91d
--- /dev/null
+++ b/flight/Modules/Airspeed/revolution/baro_airspeed_mpxv.c
@@ -0,0 +1,118 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{ 
+ * @addtogroup AirspeedModule Airspeed Module
+ * @brief Communicate with airspeed sensors and return values
+ * @{ 
+ *
+ * @file       baro_airspeed.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Airspeed module, handles temperature and pressure readings from BMP085
+ *
+ * @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
+ */
+
+/**
+ * Output object: BaroAirspeed
+ *
+ * This module will periodically update the value of the BaroAirspeed object.
+ *
+ */
+
+#include "openpilot.h"
+#include "hwsettings.h"
+#include "airspeedsettings.h"
+#include "airspeedsensor.h"	// object that will be updated by the module
+
+#if defined(PIOS_INCLUDE_MPXV)
+
+#define CALIBRATION_IDLE_MS                     2000   //Time to wait before calibrating, in [ms]
+#define CALIBRATION_COUNT_MS                    2000   //Time to spend calibrating, in [ms]
+#define ANALOG_BARO_AIRSPEED_TIME_CONSTANT_MS    100   //low pass filter
+
+// Private types
+
+// Private variables
+
+// Private functions
+
+static uint16_t calibrationCount=0;
+
+PIOS_MPXV_descriptor sensor = { .type=PIOS_MPXV_UNKNOWN };
+
+
+void baro_airspeedGetMPXV(AirspeedSensorData *airspeedSensor, AirspeedSettingsData *airspeedSettings, int8_t airspeedADCPin){
+
+	//Ensure that the ADC pin is properly configured
+	if(airspeedADCPin <0){
+		airspeedSensor->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
+		
+		return;
+	}
+	if (sensor.type==PIOS_MPXV_UNKNOWN) {
+		switch (airspeedSettings->AirspeedSensorType) {
+			case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV7002:
+				sensor = PIOS_MPXV_7002_DESC(airspeedADCPin);
+				break;
+			case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV5004:
+				sensor = PIOS_MPXV_5004_DESC(airspeedADCPin);
+				break;
+			default:
+				airspeedSensor->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
+				return;
+		}
+	}
+
+	airspeedSensor->SensorValue = PIOS_MPXV_Measure(&sensor);
+
+	if (!airspeedSettings->ZeroPoint) {
+		//Calibrate sensor by averaging zero point value
+		if (calibrationCount < CALIBRATION_IDLE_MS/airspeedSettings->SamplePeriod) { //First let sensor warm up and stabilize.
+			calibrationCount++;
+			return;
+		} else if (calibrationCount <= (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS)/airspeedSettings->SamplePeriod) { //Then compute the average.
+			calibrationCount++; /*DO NOT MOVE FROM BEFORE sensorCalibration=... LINE, OR ELSE WILL HAVE DIVIDE BY ZERO */
+
+			PIOS_MPXV_Calibrate(&sensor,airspeedSensor->SensorValue);
+
+			//Set settings UAVO. The airspeed UAVO is set elsewhere in the function.
+			if (calibrationCount > (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS)/airspeedSettings->SamplePeriod) {
+				airspeedSettings->ZeroPoint = sensor.zeroPoint;
+				AirspeedSettingsZeroPointSet(&airspeedSettings->ZeroPoint);
+			}
+			return;
+		}
+	}
+	sensor.zeroPoint = airspeedSettings->ZeroPoint;
+		
+	//Filter CAS
+	float alpha=airspeedSettings->SamplePeriod/(airspeedSettings->SamplePeriod + ANALOG_BARO_AIRSPEED_TIME_CONSTANT_MS); //Low pass filter.
+	
+	airspeedSensor->CalibratedAirspeed = PIOS_MPXV_CalcAirspeed(&sensor,airspeedSensor->SensorValue) * (alpha) + airspeedSensor->CalibratedAirspeed*(1.0f-alpha);
+	airspeedSensor->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_TRUE;
+
+}
+
+#endif
+
+/**
+ * @}
+ * @}
+ */
diff --git a/flight/Modules/Airspeed/revolution/inc/baro_airspeed_etasv3.h b/flight/Modules/Airspeed/revolution/inc/baro_airspeed_etasv3.h
index 2dd5e57b5..b19a2b631 100644
--- a/flight/Modules/Airspeed/revolution/inc/baro_airspeed_etasv3.h
+++ b/flight/Modules/Airspeed/revolution/inc/baro_airspeed_etasv3.h
@@ -28,14 +28,14 @@
  * with this program; if not, write to the Free Software Foundation, Inc.,
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
-#ifndef ETASV3_AIRSPEED_H
-#define ETASV3_AIRSPEED_H
+#ifndef BARO_AIRSPEED_ETASV3_H
+#define BARO_AIRSPEED_ETASV3_H
 #if defined(PIOS_INCLUDE_ETASV3)
 
-void baro_airspeedGetETASV3(BaroAirspeedData *baroAirspeedData, portTickType *lastSysTime, uint8_t airspeedSensorType, int8_t airspeedADCPin);
+void baro_airspeedGetETASV3(AirspeedSensorData *airspeedSensor, AirspeedSettingsData *airspeedSettings);
 
 #endif
-#endif // ETASV3_AIRSPEED_H
+#endif // BARO_AIRSPEED_ETASV3_H
 
 /**
  * @}
diff --git a/flight/Modules/Airspeed/revolution/inc/baro_airspeed_analog.h b/flight/Modules/Airspeed/revolution/inc/baro_airspeed_mpxv.h
similarity index 80%
rename from flight/Modules/Airspeed/revolution/inc/baro_airspeed_analog.h
rename to flight/Modules/Airspeed/revolution/inc/baro_airspeed_mpxv.h
index 229196235..bb98da565 100644
--- a/flight/Modules/Airspeed/revolution/inc/baro_airspeed_analog.h
+++ b/flight/Modules/Airspeed/revolution/inc/baro_airspeed_mpxv.h
@@ -6,7 +6,7 @@
  * @brief Calculate airspeed as a function of the difference between sequential GPS velocity and attitude measurements
  * @{ 
  *
- * @file       baro_airspeed_analog.h
+ * @file       baro_airspeed_mpxv.h
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
  * @brief      Airspeed module, reads temperature and pressure from BMP085
  *
@@ -28,14 +28,14 @@
  * with this program; if not, write to the Free Software Foundation, Inc.,
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
-#ifndef ANALOG_AIRSPEED_H
-#define ANALOG_AIRSPEED_H
-#if defined(PIOS_INCLUDE_MPXV7002) || defined (PIOS_INCLUDE_MPXV5004)
+#ifndef BARO_AIRSPEED_MPXV_H
+#define BARO_AIRSPEED_MPXV_H
+#if defined(PIOS_INCLUDE_MPXV)
 
-void baro_airspeedGetAnalog(BaroAirspeedData *baroAirspeedData, portTickType *lastSysTime, uint8_t airspeedSensorType, int8_t airspeedADCPin);
+void baro_airspeedGetMPXV(AirspeedSensorData *airspeedSensor, AirspeedSettingsData *airspeedSettings, int8_t airspeedADCPin);
 
 #endif
-#endif // ANALOG_AIRSPEED_H
+#endif // BARO_AIRSPEED_MPXV_H
 
 /**
  * @}
diff --git a/flight/Modules/Attitude/revolution/attitude.c b/flight/Modules/Attitude/revolution/attitude.c
index 7fc84f1c5..91ccc688c 100644
--- a/flight/Modules/Attitude/revolution/attitude.c
+++ b/flight/Modules/Attitude/revolution/attitude.c
@@ -53,6 +53,8 @@
 #include "attitude.h"
 
 #include "accels.h"
+#include "airspeedsensor.h"
+#include "airspeedactual.h"
 #include "attitudeactual.h"
 #include "attitudesettings.h"
 #include "baroaltitude.h"
@@ -82,6 +84,11 @@
 // reasoning: updates at: 10 Hz, tau= 300 s settle time
 // exp(-(1/f) / tau ) ~=~ 0.9997
 #define BARO_OFFSET_LOWPASS_ALPHA 0.9997f 
+
+// simple IAS to TAS aproximation - 2% increase per 1000ft
+// since we do not have flowing air temperature information
+#define IAS2TAS(alt) (1.0f + (0.02f*(alt)/304.8f))
+
 // Private types
 
 // Private variables
@@ -90,6 +97,7 @@ static xTaskHandle attitudeTaskHandle;
 static xQueueHandle gyroQueue;
 static xQueueHandle accelQueue;
 static xQueueHandle magQueue;
+static xQueueHandle airspeedQueue;
 static xQueueHandle baroQueue;
 static xQueueHandle gpsQueue;
 static xQueueHandle gpsVelQueue;
@@ -126,6 +134,8 @@ static int32_t getNED(GPSPositionData * gpsPosition, float * NED);
 int32_t AttitudeInitialize(void)
 {
 	AttitudeActualInitialize();
+	AirspeedActualInitialize();
+	AirspeedSensorInitialize();
 	AttitudeSettingsInitialize();
 	PositionActualInitialize();
 	VelocityActualInitialize();
@@ -170,6 +180,7 @@ int32_t AttitudeStart(void)
 	gyroQueue = xQueueCreate(1, sizeof(UAVObjEvent));
 	accelQueue = xQueueCreate(1, sizeof(UAVObjEvent));
 	magQueue = xQueueCreate(1, sizeof(UAVObjEvent));
+	airspeedQueue = xQueueCreate(1, sizeof(UAVObjEvent));
 	baroQueue = xQueueCreate(1, sizeof(UAVObjEvent));
 	gpsQueue = xQueueCreate(1, sizeof(UAVObjEvent));
 	gpsVelQueue = xQueueCreate(1, sizeof(UAVObjEvent));
@@ -182,6 +193,7 @@ int32_t AttitudeStart(void)
 	GyrosConnectQueue(gyroQueue);
 	AccelsConnectQueue(accelQueue);
 	MagnetometerConnectQueue(magQueue);
+	AirspeedSensorConnectQueue(airspeedQueue);
 	BaroAltitudeConnectQueue(baroQueue);
 	GPSPositionConnectQueue(gpsQueue);
 	GPSVelocityConnectQueue(gpsVelQueue);
@@ -473,6 +485,25 @@ static int32_t updateAttitudeComplementary(bool first_run)
 		velocityActual.Down = gpsVelocity.Down;
 		VelocityActualSet(&velocityActual);
 	}
+	
+	if ( xQueueReceive(airspeedQueue, &ev, 0) == pdTRUE ) {
+		// Calculate true airspeed from indicated airspeed
+		AirspeedSensorData airspeedSensor;
+		AirspeedSensorGet(&airspeedSensor);
+
+		AirspeedActualData airspeed;
+		AirspeedActualGet(&airspeed);
+
+		PositionActualData positionActual;
+		PositionActualGet(&positionActual);
+
+		if (airspeedSensor.SensorConnected==AIRSPEEDSENSOR_SENSORCONNECTED_TRUE) {
+			// we have airspeed available
+			airspeed.CalibratedAirspeed = airspeedSensor.CalibratedAirspeed;
+			airspeed.TrueAirspeed = airspeed.CalibratedAirspeed * IAS2TAS( homeLocation.Altitude - positionActual.Down );
+			AirspeedActualSet(&airspeed);
+		}
+	}
 
 
 	AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
@@ -497,6 +528,7 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
 	GyrosData gyrosData;
 	AccelsData accelsData;
 	MagnetometerData magData;
+	AirspeedSensorData airspeedData;
 	BaroAltitudeData baroData;
 	GPSPositionData gpsData;
 	GPSVelocityData gpsVelData;
@@ -504,6 +536,7 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
 
 	static bool mag_updated = false;
 	static bool baro_updated;
+	static bool airspeed_updated;
 	static bool gps_updated;
 	static bool gps_vel_updated;
 
@@ -534,6 +567,7 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
 	if (inited) {
 		mag_updated = 0;
 		baro_updated = 0;
+		airspeed_updated = 0;
 		gps_updated = 0;
 		gps_vel_updated = 0;
 	}
@@ -544,6 +578,7 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
 
 		mag_updated = 0;
 		baro_updated = 0;
+		airspeed_updated = 0;
 		gps_updated = 0;
 		gps_vel_updated = 0;
 
@@ -554,6 +589,7 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
 
 	mag_updated |= (xQueueReceive(magQueue, &ev, 0 / portTICK_RATE_MS) == pdTRUE);
 	baro_updated |= xQueueReceive(baroQueue, &ev, 0 / portTICK_RATE_MS) == pdTRUE;
+	airspeed_updated |= xQueueReceive(airspeedQueue, &ev, 0 / portTICK_RATE_MS) == pdTRUE;
 	gps_updated |= (xQueueReceive(gpsQueue, &ev, 0 / portTICK_RATE_MS) == pdTRUE) && outdoor_mode;
 	gps_vel_updated |= (xQueueReceive(gpsVelQueue, &ev, 0 / portTICK_RATE_MS) == pdTRUE) && outdoor_mode;
 
@@ -562,6 +598,7 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
 	AccelsGet(&accelsData);
 	MagnetometerGet(&magData);
 	BaroAltitudeGet(&baroData);
+	AirspeedSensorGet(&airspeedData);
 	GPSPositionGet(&gpsData);
 	GPSVelocityGet(&gpsVelData);
 	GyrosBiasGet(&gyrosBias);
@@ -572,6 +609,9 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
 	// switching between indoor and outdoor mode with Set = false)
 	mag_updated &= (homeLocation.Be[0] != 0 || homeLocation.Be[1] != 0 || homeLocation.Be[2]);
 
+	// Discard airspeed if sensor not connected
+	airspeed_updated &= ( airspeedData.SensorConnected == AIRSPEEDSENSOR_SENSORCONNECTED_TRUE );
+
 	// Have a minimum requirement for gps usage
 	gps_updated &= (gpsData.Satellites >= 7) && (gpsData.PDOP <= 4.0f) && (homeLocation.Set == HOMELOCATION_SET_TRUE);
 
@@ -768,7 +808,7 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
 		    * ( -NED[2] - baroData.Altitude );
 
 	} else if (!outdoor_mode) {
-		INSSetPosVelVar(1e2f, 1e2f);
+		INSSetPosVelVar(1e6f, 1e5f);
 		vel[0] = vel[1] = vel[2] = 0;
 		NED[0] = NED[1] = 0;
 		NED[2] = -(baroData.Altitude + baroOffset);
@@ -782,6 +822,27 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
 		vel[1] = gpsVelData.East;
 		vel[2] = gpsVelData.Down;
 	}
+
+	if (airspeed_updated) {
+		// we have airspeed available
+		AirspeedActualData airspeed;
+		AirspeedActualGet(&airspeed);
+
+		airspeed.CalibratedAirspeed = airspeedData.CalibratedAirspeed;
+		airspeed.TrueAirspeed = airspeed.CalibratedAirspeed * IAS2TAS( homeLocation.Altitude - Nav.Pos[2] );
+		AirspeedActualSet(&airspeed);
+		
+		if ( !gps_vel_updated && !gps_updated) {
+			// feed airspeed into EKF, treat wind as 1e2 variance
+			sensors |= HORIZ_SENSORS | VERT_SENSORS;
+			INSSetPosVelVar(1e6f, 1e2f);
+			// rotate airspeed vector into NED frame - airspeed is measured in X axis only
+			float R[3][3];
+			Quaternion2R(Nav.q,R);
+			float vtas[3] = {airspeed.TrueAirspeed,0,0};
+			rot_mult(R,vtas,vel);
+		}
+	}
 	
 	/*
 	 * TODO: Need to add a general sanity check for all the inputs to make sure their kosher
diff --git a/flight/Modules/PathPlanner/pathplanner.c b/flight/Modules/PathPlanner/pathplanner.c
index aec41a2c1..de2fe9184 100644
--- a/flight/Modules/PathPlanner/pathplanner.c
+++ b/flight/Modules/PathPlanner/pathplanner.c
@@ -33,7 +33,7 @@
 #include "paths.h"
 
 #include "flightstatus.h"
-#include "baroairspeed.h" // TODO: make baroairspeed optional
+#include "airspeedactual.h"
 #include "pathaction.h"
 #include "pathdesired.h"
 #include "pathstatus.h"
@@ -103,7 +103,7 @@ int32_t PathPlannerInitialize()
 	PathStatusInitialize();
 	PathDesiredInitialize();
 	PositionActualInitialize();
-	BaroAirspeedInitialize();
+	AirspeedActualInitialize();
 	VelocityActualInitialize();
 	WaypointInitialize();
 	WaypointActiveInitialize();
@@ -438,11 +438,9 @@ static uint8_t conditionAboveSpeed() {
 
 	// use airspeed if requested and available
 	if (pathAction.ConditionParameters[1]>0.5f) {
-		BaroAirspeedData baroAirspeed;
-		BaroAirspeedGet (&baroAirspeed);
-		if (baroAirspeed.BaroConnected == BAROAIRSPEED_BAROCONNECTED_TRUE) {
-			velocity = baroAirspeed.TrueAirspeed;
-		}
+		AirspeedActualData airspeed;
+		AirspeedActualGet (&airspeed);
+		velocity = airspeed.CalibratedAirspeed;
 	}
 
 	if ( velocity >= pathAction.ConditionParameters[0]) {
diff --git a/flight/Modules/Sensors/simulated/sensors.c b/flight/Modules/Sensors/simulated/sensors.c
index acd3a5d53..fef692598 100644
--- a/flight/Modules/Sensors/simulated/sensors.c
+++ b/flight/Modules/Sensors/simulated/sensors.c
@@ -54,7 +54,7 @@
 #include "attitudeactual.h"
 #include "attitudesimulated.h"
 #include "attitudesettings.h"
-#include "baroairspeed.h"
+#include "rawairspeed.h"
 #include "baroaltitude.h"
 #include "gyros.h"
 #include "gyrosbias.h"
@@ -112,7 +112,7 @@ int32_t SensorsInitialize(void)
 	AccelsInitialize();
 	AttitudeSimulatedInitialize();
 	BaroAltitudeInitialize();
-	BaroAirspeedInitialize();
+	AirspeedSensorInitialize();
 	GyrosInitialize();
 	GyrosBiasInitialize();
 	GPSPositionInitialize();
@@ -748,11 +748,10 @@ static void simulateModelAirplane()
 	// Update baro airpseed periodically	
 	static uint32_t last_airspeed_time = 0;
 	if(PIOS_DELAY_DiffuS(last_airspeed_time) / 1.0e6 > BARO_PERIOD) {
-		BaroAirspeedData baroAirspeed;
-		baroAirspeed.Connected = BAROAIRSPEED_CONNECTED_TRUE;
-		baroAirspeed.ZeroPoint = 0;
-		baroAirspeed.Airspeed = forwardAirspeed;
-		BaroAirspeedSet(&baroAirspeed);
+		AirspeedSensorData airspeedSensor;
+		airspeedSensor.SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_TRUE;
+		airspeedSensor.CalibratedAirspeed = forwardAirspeed;
+		AirspeedSensorSet(&airspeedSensor);
 		last_airspeed_time = PIOS_DELAY_GetRaw();
 	}
 	
diff --git a/flight/PiOS/Common/pios_mpxv5004.c b/flight/PiOS/Common/pios_mpxv.c
similarity index 60%
rename from flight/PiOS/Common/pios_mpxv5004.c
rename to flight/PiOS/Common/pios_mpxv.c
index 5daf7991a..ff02a0266 100644
--- a/flight/PiOS/Common/pios_mpxv5004.c
+++ b/flight/PiOS/Common/pios_mpxv.c
@@ -2,13 +2,13 @@
  ******************************************************************************
  * @addtogroup PIOS PIOS Core hardware abstraction layer
  * @{
- * @addtogroup PIOS_MPXV5004 MPXV5004 Functions
- * @brief Hardware functions to deal with the DIYDrones airspeed kit, using MPXV5004. 
+ * @addtogroup PIOS_MPXV Functions
+ * @brief Hardware functions to deal with the DIYDrones airspeed kit, using MPXV*. 
  *    This is a differential sensor, so the value returned is first converted into 
  *    calibrated airspeed, using http://en.wikipedia.org/wiki/Calibrated_airspeed
  * @{
  *
- * @file       pios_mpxv5004.h
+ * @file       pios_mpxv.c
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
  * @brief      ETASV3 Airspeed Sensor Driver
  * @see        The GNU Public License (GPL) Version 3
@@ -33,40 +33,32 @@
 /* Project Includes */
 #include "pios.h"
 
-#if defined(PIOS_INCLUDE_MPXV5004)
+#if defined(PIOS_INCLUDE_MPXV)
 
-#include "pios_mpxv5004.h"
-
-static uint32_t calibrationSum = 0; //static?
-static int16_t calibrationOffset; //static?
+#define A0 340.27f        //speed of sound at standard sea level in [m/s]
+#define P0 101.325f       //static air pressure at standard sea level in kPa
+#define POWER (2.0f/7.0f)
 
+#include "pios_mpxv.h"
 
 /*
  * Reads ADC.
  */
-uint16_t PIOS_MPXV5004_Measure(uint8_t airspeedADCPin)
+uint16_t PIOS_MPXV_Measure(PIOS_MPXV_descriptor *desc)
 {
-	return PIOS_ADC_PinGet(airspeedADCPin);
+	if (desc)
+		return PIOS_ADC_PinGet(desc->airspeedADCPin);
+	return 0;
 }
 
 /*
  *Returns zeroPoint so that the user can inspect the calibration vs. the sensor value
  */
-uint16_t PIOS_MPXV5004_Calibrate(uint8_t airspeedADCPin, uint16_t calibrationCount){
-	calibrationSum +=  PIOS_MPXV5004_Measure(airspeedADCPin);
-	uint16_t zeroPoint = (uint16_t)(((float)calibrationSum) / calibrationCount + 0.5f);	
-
-	calibrationOffset = zeroPoint - (int16_t)(1.0f/3.3f*4096.0f+0.5f); //The offset should set the zero point to 1.0V
-	
-	return zeroPoint;
-}
-
-
-/*
- * Updates the calibration when zero point is manually set by user.
- */
-void PIOS_MPXV5004_UpdateCalibration(uint16_t zeroPoint){
-	calibrationOffset = zeroPoint - (int16_t)(1.0f/3.3f*4096.0f+0.5f); //The offset should set the zero point to 1.0V
+uint16_t PIOS_MPXV_Calibrate(PIOS_MPXV_descriptor *desc,uint16_t measurement){
+	desc->calibrationSum += measurement;
+	desc->calibrationCount++;
+	desc->zeroPoint = (uint16_t)(((float)desc->calibrationSum) / desc->calibrationCount);
+	return desc->zeroPoint;
 }
 
 
@@ -74,12 +66,10 @@ void PIOS_MPXV5004_UpdateCalibration(uint16_t zeroPoint){
  * Reads the airspeed and returns CAS (calibrated airspeed) in the case of success. 
  * In the case of a failed read, returns -1.
  */
-float PIOS_MPXV5004_ReadAirspeed(uint8_t airspeedADCPin)
+float PIOS_MPXV_CalcAirspeed(PIOS_MPXV_descriptor *desc,uint16_t measurement)
 {
-	float sensorVal = PIOS_MPXV5004_Measure(airspeedADCPin);
-	
 	//Calculate dynamic pressure, as per docs
-	float Qc = 5.0f*(((sensorVal - calibrationOffset)/4096.0f*3.3f)/VCC - 0.2f);
+	float Qc = 3.3f/4096.0f * (float)(measurement - desc->zeroPoint);
 
 	//Saturate Qc on the lower bound, in order to make sure we don't have negative airspeeds. No need
 	// to saturate on the upper bound, we'll handle that later with calibratedAirspeed.
@@ -87,16 +77,15 @@ float PIOS_MPXV5004_ReadAirspeed(uint8_t airspeedADCPin)
 		Qc=0;
 	}
 	
-	//Compute calibraterd airspeed, as per http://en.wikipedia.org/wiki/Calibrated_airspeed
+	//Compute calibrated airspeed, as per http://en.wikipedia.org/wiki/Calibrated_airspeed
 	float calibratedAirspeed = A0*sqrt(5.0f*(pow(Qc/P0+1.0f,POWER)-1.0f));
 	
 	//Upper bound airspeed. No need to lower bound it, that comes from Qc
-	if (calibratedAirspeed > 80) { //in [m/s]
-		calibratedAirspeed=80;
+	if (calibratedAirspeed > desc->maxSpeed) { //in [m/s]
+		calibratedAirspeed=desc->maxSpeed;
 	}
 	
-	
 	return calibratedAirspeed;
 }
 
-#endif /* PIOS_INCLUDE_MPXV5004 */
+#endif /* PIOS_INCLUDE_MPXV */
diff --git a/flight/PiOS/Common/pios_mpxv7002.c b/flight/PiOS/Common/pios_mpxv7002.c
deleted file mode 100644
index daf9a9168..000000000
--- a/flight/PiOS/Common/pios_mpxv7002.c
+++ /dev/null
@@ -1,102 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup PIOS PIOS Core hardware abstraction layer
- * @{
- * @addtogroup PIOS_MPXV7002 MPXV7002 Functions
- * @brief Hardware functions to deal with the DIYDrones airspeed kit, using MPXV7002. 
- *    This is a differential sensor, so the value returned is first converted into 
- *    calibrated airspeed, using http://en.wikipedia.org/wiki/Calibrated_airspeed
- * @{
- *
- * @file       pios_mpxv7002.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @brief      ETASV3 Airspeed Sensor Driver
- * @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_MPXV7002)
-
-#include "pios_mpxv7002.h"
-
-static uint32_t calibrationSum = 0; //static?
-static int16_t calibrationOffset; //static?
-
-
-/*
- * Reads ADC.
- */
-uint16_t PIOS_MPXV7002_Measure(uint8_t airspeedADCPin)
-{
-	return PIOS_ADC_PinGet(airspeedADCPin);
-}
-
-/*
- *Returns zeroPoint so that the user can inspect the calibration vs. the sensor value
- */
-uint16_t PIOS_MPXV7002_Calibrate(uint8_t airspeedADCPin, uint16_t calibrationCount){
-	calibrationSum +=  PIOS_MPXV7002_Measure(airspeedADCPin);
-	uint16_t zeroPoint = (uint16_t)(((float)calibrationSum) / calibrationCount + 0.5f);	
-
-	calibrationOffset = zeroPoint - (int16_t)(2.5f/3.3f*4096.0f+0.5f); //The offset should set the zero point to 2.5V
-	
-	return zeroPoint;
-}
-
-
-/*
- * Updates the calibration when zero point is manually set by user.
- */
-void PIOS_MPXV7002_UpdateCalibration(uint16_t zeroPoint){
-	calibrationOffset = zeroPoint - (int16_t)(2.5f/3.3f*4096.0f+0.5f); //The offset should set the zero point to 2.5V
-}
-
-
-/*
- * Reads the airspeed and returns CAS (calibrated airspeed) in the case of success. 
- * In the case of a failed read, returns -1.
- */
-float PIOS_MPXV7002_ReadAirspeed(uint8_t airspeedADCPin)
-{
-	float sensorVal = PIOS_MPXV7002_Measure(airspeedADCPin);
-	
-	//Calculate dynamic pressure, as per docs
-	float Qc = 5.0f*(((sensorVal - calibrationOffset)/4096.0f*3.3f)/VCC - 0.5f);
-
-	//Saturate Qc on the lower bound, in order to make sure we don't have negative airspeeds. No need
-	// to saturate on the upper bound, we'll handle that later with calibratedAirspeed.
-	if (Qc < 0) {
-		Qc=0;
-	}
-	
-	//Compute calibraterd airspeed, as per http://en.wikipedia.org/wiki/Calibrated_airspeed
-	float calibratedAirspeed = A0*sqrt(5.0f*(pow(Qc/P0+1.0f,POWER)-1.0f));
-	
-	//Upper bound airspeed. No need to lower bound it, that comes from Qc
-	if (calibratedAirspeed > 59) { //in [m/s]
-		calibratedAirspeed=59;
-	}
-	
-	
-	return calibratedAirspeed;
-}
-
-#endif /* PIOS_INCLUDE_MPXV7002 */
diff --git a/flight/PiOS/inc/pios_mpxv5004.h b/flight/PiOS/inc/pios_mpxv.h
similarity index 52%
rename from flight/PiOS/inc/pios_mpxv5004.h
rename to flight/PiOS/inc/pios_mpxv.h
index 2ebf1dee9..824f0aa7b 100644
--- a/flight/PiOS/inc/pios_mpxv5004.h
+++ b/flight/PiOS/inc/pios_mpxv.h
@@ -2,11 +2,11 @@
   ******************************************************************************
   * @addtogroup PIOS PIOS Core hardware abstraction layer
   * @{
-  * @addtogroup PIOS_MPXV5004 MPXV5004 Functions
-  * @brief Hardware functions to deal with the DIYDrones airspeed kit, using MPXV5004
+  * @addtogroup PIOS_MPXV MPXV* Functions
+  * @brief Hardware functions to deal with the DIYDrones airspeed kit, using MPXV5004, 7002 or similar
   * @{
   *
-  * @file       pios_mpxv5004.h
+  * @file       pios_mpxv.h
   * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
   * @brief      ETASV3 Airspeed Sensor Driver
   * @see        The GNU Public License (GPL) Version 3
@@ -28,16 +28,39 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#ifndef PIOS_MPXV5004_H__
+#ifndef PIOS_MPXV_H__
+#define PIOS_MPXV_H__
 
-#define A0 340.27f        //speed of sound at standard sea level in [m/s]
-#define P0 101.325f       //static air pressure at standard sea level in kPa
-#define VCC 5.0f           //Supply voltage in V
-#define POWER (2.0f/7.0f)
+typedef enum{ PIOS_MPXV_UNKNOWN,PIOS_MPXV_5004,PIOS_MPXV_7002 } PIOS_MPXV_sensortype;
+typedef struct{
+	PIOS_MPXV_sensortype type;
+	uint8_t airspeedADCPin;
+	uint16_t calibrationCount;
+	uint32_t calibrationSum;
+	uint16_t zeroPoint;
+	float maxSpeed;
+} PIOS_MPXV_descriptor;
 
-uint16_t PIOS_MPXV5004_Measure(uint8_t airspeedADCPin);
-uint16_t PIOS_MPXV5004_Calibrate(uint8_t airspeedADCPin, uint16_t calibrationCount);
-void PIOS_MPXV5004_UpdateCalibration(uint16_t zeroPoint);
-float PIOS_MPXV5004_ReadAirspeed (uint8_t airspeedADCPin);
+#define PIOS_MPXV_5004_DESC(pin) \
+	(PIOS_MPXV_descriptor){ \
+		.type           = PIOS_MPXV_5004, \
+		.airspeedADCPin = pin, \
+		.maxSpeed       = 80.0f, \
+		.calibrationCount = 0, \
+		.calibrationSum = 0, \
+	}
+#define PIOS_MPXV_7002_DESC(pin) \
+	(PIOS_MPXV_descriptor){ \
+		.type           = PIOS_MPXV_7002, \
+		.airspeedADCPin = pin, \
+		.maxSpeed       = 56.0f, \
+		.calibrationCount = 0, \
+		.calibrationSum = 0, \
+	}
 
-#endif // PIOS_MPXV5004_H__
\ No newline at end of file
+
+uint16_t PIOS_MPXV_Measure(PIOS_MPXV_descriptor *desc);
+uint16_t PIOS_MPXV_Calibrate(PIOS_MPXV_descriptor *desc, uint16_t measurement);
+float PIOS_MPXV_CalcAirspeed (PIOS_MPXV_descriptor *desc,uint16_t measurement);
+
+#endif // PIOS_MPXV_H__
diff --git a/flight/PiOS/inc/pios_mpxv7002.h b/flight/PiOS/inc/pios_mpxv7002.h
deleted file mode 100644
index 5f9a8f3a7..000000000
--- a/flight/PiOS/inc/pios_mpxv7002.h
+++ /dev/null
@@ -1,43 +0,0 @@
-/**
-  ******************************************************************************
-  * @addtogroup PIOS PIOS Core hardware abstraction layer
-  * @{
-  * @addtogroup PIOS_MPXV7002 MPXV7002 Functions
-  * @brief Hardware functions to deal with the DIYDrones airspeed kit, using MPXV7002
-  * @{
-  *
-  * @file       pios_mpxv7002.h
-  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
-  * @brief      ETASV3 Airspeed Sensor Driver
-  * @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
- */
-
-#ifndef PIOS_MPXV7002_H__
-
-#define A0 340.27f        //speed of sound at standard sea level in [m/s]
-#define P0 101.325f       //static air pressure at standard sea level in kPa
-#define VCC 5.0f           //Supply voltage in V
-#define POWER (2.0f/7.0f)
-
-uint16_t PIOS_MPXV7002_Measure(uint8_t airspeedADCPin);
-uint16_t PIOS_MPXV7002_Calibrate(uint8_t airspeedADCPin, uint16_t calibrationCount);
-void PIOS_MPXV7002_UpdateCalibration(uint16_t zeroPoint);
-float PIOS_MPXV7002_ReadAirspeed (uint8_t airspeedADCPin);
-
-#endif // PIOS_MPXV7002_H__
\ No newline at end of file
diff --git a/flight/PiOS/pios.h b/flight/PiOS/pios.h
index 23c2b598a..66de54a3e 100644
--- a/flight/PiOS/pios.h
+++ b/flight/PiOS/pios.h
@@ -101,11 +101,8 @@
 /* PIOS Hardware Includes (Common) */
 #include <pios_sdcard.h>
 #include <pios_com.h>
-#if defined(PIOS_INCLUDE_MPXV7002)
-#include <pios_mpxv7002.h>
-#endif
-#if defined(PIOS_INCLUDE_MPXV5004)
-#include <pios_mpxv5004.h>
+#if defined(PIOS_INCLUDE_MPXV)
+#include <pios_mpxv.h>
 #endif
 #if defined(PIOS_INCLUDE_ETASV3)
 #include <pios_etasv3.h>
diff --git a/flight/RevoMini/Makefile b/flight/RevoMini/Makefile
index 47cdb82bd..56a74198e 100644
--- a/flight/RevoMini/Makefile
+++ b/flight/RevoMini/Makefile
@@ -55,7 +55,7 @@ MODULES += ManualControl Stabilization Actuator
 MODULES += Battery
 MODULES += Altitude/revolution
 MODULES += GPS FirmwareIAP
-#MODULES += Airspeed/revolution
+MODULES += Airspeed/revolution
 MODULES += AltitudeHold FixedWingPathFollower PathPlanner TxPID
 #MODULES += VtolPathFollower  ## OP-700: VtolPathFollower disabled because its currently unsafe - remove this line once Sambas code has been merged
 MODULES += CameraStab
@@ -164,6 +164,7 @@ include $(PIOS)/STM32F4xx/library.mk
 SRC += $(PIOSCOMMON)/pios_mpu6000.c
 SRC += $(PIOSCOMMON)/pios_bma180.c
 SRC += $(PIOSCOMMON)/pios_etasv3.c
+SRC += $(PIOSCOMMON)/pios_mpxv.c
 SRC += $(PIOSCOMMON)/pios_gcsrcvr.c
 SRC += $(PIOSCOMMON)/pios_l3gd20.c
 SRC += $(PIOSCOMMON)/pios_hmc5883.c
diff --git a/flight/RevoMini/System/inc/pios_config.h b/flight/RevoMini/System/inc/pios_config.h
index a4e18652c..5c166946b 100644
--- a/flight/RevoMini/System/inc/pios_config.h
+++ b/flight/RevoMini/System/inc/pios_config.h
@@ -66,7 +66,8 @@
 #define PIOS_INCLUDE_MPU6000
 #define PIOS_MPU6000_ACCEL
 #define PIOS_INCLUDE_MS5611
-//#define PIOS_INCLUDE_ETASV3
+#define PIOS_INCLUDE_ETASV3
+#define PIOS_INCLUDE_MPXV
 //#define PIOS_INCLUDE_HCSR04
 #define FLASH_FREERTOS
 /* Com systems to include */
diff --git a/flight/RevoMini/UAVObjects.inc b/flight/RevoMini/UAVObjects.inc
index 7b59a2585..468d40d75 100644
--- a/flight/RevoMini/UAVObjects.inc
+++ b/flight/RevoMini/UAVObjects.inc
@@ -37,7 +37,7 @@ UAVOBJSRCFILENAMES += accels
 UAVOBJSRCFILENAMES += magnetometer
 UAVOBJSRCFILENAMES += magbias
 UAVOBJSRCFILENAMES += baroaltitude
-UAVOBJSRCFILENAMES += baroairspeed
+UAVOBJSRCFILENAMES += airspeedsensor
 UAVOBJSRCFILENAMES += airspeedsettings
 UAVOBJSRCFILENAMES += airspeedactual
 UAVOBJSRCFILENAMES += flightbatterysettings
diff --git a/flight/Revolution/Makefile b/flight/Revolution/Makefile
index 845b1456b..452de3053 100644
--- a/flight/Revolution/Makefile
+++ b/flight/Revolution/Makefile
@@ -182,8 +182,7 @@ include $(PIOS)/STM32F4xx/library.mk
 SRC += $(PIOSCOMMON)/pios_mpu6000.c
 SRC += $(PIOSCOMMON)/pios_bma180.c
 SRC += $(PIOSCOMMON)/pios_etasv3.c
-SRC += $(PIOSCOMMON)/pios_mpxv5004.c
-SRC += $(PIOSCOMMON)/pios_mpxv7002.c
+SRC += $(PIOSCOMMON)/pios_mpxv.c
 SRC += $(PIOSCOMMON)/pios_gcsrcvr.c
 SRC += $(PIOSCOMMON)/pios_l3gd20.c
 SRC += $(PIOSCOMMON)/pios_hmc5883.c
diff --git a/flight/Revolution/System/inc/pios_config.h b/flight/Revolution/System/inc/pios_config.h
index 522e15a80..8ac4b2109 100644
--- a/flight/Revolution/System/inc/pios_config.h
+++ b/flight/Revolution/System/inc/pios_config.h
@@ -65,8 +65,7 @@
 #define PIOS_INCLUDE_L3GD20
 #define PIOS_INCLUDE_MS5611
 #define PIOS_INCLUDE_ETASV3
-#define PIOS_INCLUDE_MPXV5004
-#define PIOS_INCLUDE_MPXV7002
+#define PIOS_INCLUDE_MPXV
 //#define PIOS_INCLUDE_HCSR04
 #define PIOS_FLASH_ON_ACCEL /* true for second revo */
 #define FLASH_FREERTOS
diff --git a/flight/Revolution/UAVObjects.inc b/flight/Revolution/UAVObjects.inc
index 366e40820..545f6ecc7 100644
--- a/flight/Revolution/UAVObjects.inc
+++ b/flight/Revolution/UAVObjects.inc
@@ -37,7 +37,7 @@ UAVOBJSRCFILENAMES += accels
 UAVOBJSRCFILENAMES += magnetometer
 UAVOBJSRCFILENAMES += magbias
 UAVOBJSRCFILENAMES += baroaltitude
-UAVOBJSRCFILENAMES += baroairspeed
+UAVOBJSRCFILENAMES += airspeedsensor
 UAVOBJSRCFILENAMES += airspeedsettings
 UAVOBJSRCFILENAMES += airspeedactual
 UAVOBJSRCFILENAMES += flightbatterysettings
diff --git a/flight/SimPosix/UAVObjects.inc b/flight/SimPosix/UAVObjects.inc
index f2fca086f..4a6c453ac 100644
--- a/flight/SimPosix/UAVObjects.inc
+++ b/flight/SimPosix/UAVObjects.inc
@@ -36,7 +36,7 @@ UAVOBJSRCFILENAMES += gyrosbias
 UAVOBJSRCFILENAMES += accels
 UAVOBJSRCFILENAMES += magnetometer
 UAVOBJSRCFILENAMES += baroaltitude
-UAVOBJSRCFILENAMES += baroairspeed
+UAVOBJSRCFILENAMES += airspeedsensor
 UAVOBJSRCFILENAMES += airspeedsettings
 UAVOBJSRCFILENAMES += airspeedactual
 UAVOBJSRCFILENAMES += flightbatterysettings
diff --git a/ground/openpilotgcs/src/plugins/hitl/simulator.cpp b/ground/openpilotgcs/src/plugins/hitl/simulator.cpp
index 88922f0f8..1a0967ca8 100644
--- a/ground/openpilotgcs/src/plugins/hitl/simulator.cpp
+++ b/ground/openpilotgcs/src/plugins/hitl/simulator.cpp
@@ -734,8 +734,8 @@ void Simulator::updateUAVOs(Output2Hardware out){
         memset(&airspeedActualData, 0, sizeof(AirspeedActual::DataFields));
         airspeedActualData.CalibratedAirspeed = out.calibratedAirspeed + noise.airspeedActual.CalibratedAirspeed;
         airspeedActualData.TrueAirspeed = out.trueAirspeed + noise.airspeedActual.TrueAirspeed;
-        airspeedActualData.alpha=out.angleOfAttack;
-        airspeedActualData.beta=out.angleOfSlip;
+        //airspeedActualData.alpha=out.angleOfAttack; // to be implemented
+        //airspeedActualData.beta=out.angleOfSlip;
         airspeedActual->setData(airspeedActualData);
 
         airspeedActualTime=airspeedActualTime.addMSecs(settings.airspeedActualRate);
diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
index d28dd07be..c757e62db 100644
--- a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
+++ b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
@@ -25,7 +25,7 @@ OTHER_FILES += UAVObjects.pluginspec
 # Add in all of the synthetic/generated uavobject files
 HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
     $$UAVOBJECT_SYNTHETICS/baroaltitude.h \
-    $$UAVOBJECT_SYNTHETICS/baroairspeed.h \
+    $$UAVOBJECT_SYNTHETICS/airspeedsensor.h \
     $$UAVOBJECT_SYNTHETICS/airspeedsettings.h \
     $$UAVOBJECT_SYNTHETICS/airspeedactual.h \
     $$UAVOBJECT_SYNTHETICS/attitudeactual.h \
@@ -103,7 +103,7 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
 
 SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
     $$UAVOBJECT_SYNTHETICS/baroaltitude.cpp \
-    $$UAVOBJECT_SYNTHETICS/baroairspeed.cpp \
+    $$UAVOBJECT_SYNTHETICS/airspeedsensor.cpp \
     $$UAVOBJECT_SYNTHETICS/airspeedsettings.cpp \
     $$UAVOBJECT_SYNTHETICS/airspeedactual.cpp \
     $$UAVOBJECT_SYNTHETICS/attitudeactual.cpp \
diff --git a/shared/uavobjectdefinition/airspeedactual.xml b/shared/uavobjectdefinition/airspeedactual.xml
index e612b3e31..d5b0f90ae 100644
--- a/shared/uavobjectdefinition/airspeedactual.xml
+++ b/shared/uavobjectdefinition/airspeedactual.xml
@@ -1,13 +1,11 @@
 <xml>
     <object name="AirspeedActual" singleinstance="true" settings="false">
         <description>UAVO for true airspeed, calibrated airspeed, angle of attack, and angle of slip</description>
-        <field name="TrueAirspeed" units="m/s" type="float" elements="1"/>
         <field name="CalibratedAirspeed" units="m/s" type="float" elements="1"/>
-        <field name="alpha" units="rad" type="float" elements="1"/>
-        <field name="beta" units="rad" type="float" elements="1"/>
+        <field name="TrueAirspeed" units="m/s" type="float" elements="1"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
-        <telemetryflight acked="false" updatemode="manual" period="1000"/>
+        <telemetryflight acked="false" updatemode="periodic" period="1000"/>
         <logging updatemode="periodic" period="1000"/>
     </object>
 </xml>
diff --git a/shared/uavobjectdefinition/baroairspeed.xml b/shared/uavobjectdefinition/airspeedsensor.xml
similarity index 63%
rename from shared/uavobjectdefinition/baroairspeed.xml
rename to shared/uavobjectdefinition/airspeedsensor.xml
index 6fd9d1ac6..0ac1f3ecd 100644
--- a/shared/uavobjectdefinition/baroairspeed.xml
+++ b/shared/uavobjectdefinition/airspeedsensor.xml
@@ -1,11 +1,9 @@
 <xml>
-    <object name="BaroAirspeed" singleinstance="true" settings="false">
+    <object name="AirspeedSensor" singleinstance="true" settings="false">
         <description>The raw data from the dynamic pressure sensor with pressure, temperature and airspeed.</description>
-        <field name="BaroConnected" units="" type="enum" elements="1" options="False,True"/>
+        <field name="SensorConnected" units="" type="enum" elements="1" options="False,True"/>
         <field name="SensorValue" units="raw" type="uint16" elements="1"/>
         <field name="CalibratedAirspeed" units="m/s" type="float" elements="1"/>
-        <field name="GPSAirspeed" units="m/s" type="float" elements="1"/>
-        <field name="TrueAirspeed" units="m/s" type="float" elements="1"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
         <telemetryflight acked="false" updatemode="periodic" period="1000"/>
diff --git a/shared/uavobjectdefinition/airspeedsettings.xml b/shared/uavobjectdefinition/airspeedsettings.xml
index e24697f16..697c9a3ec 100644
--- a/shared/uavobjectdefinition/airspeedsettings.xml
+++ b/shared/uavobjectdefinition/airspeedsettings.xml
@@ -1,10 +1,10 @@
 <xml>
     <object name="AirspeedSettings" singleinstance="true" settings="true">
         <description>Settings for the @ref BaroAirspeed module used on CopterControl or Revolution</description>
-        <field name="GPSSamplePeriod_ms" units="ms" type="uint8" elements="1" defaultvalue="100"/>
+        <field name="SamplePeriod" units="ms" type="uint8" elements="1" defaultvalue="100"/>
         <field name="ZeroPoint" units="raw" type="uint16" elements="1" defaultvalue="0"/>
         <field name="Scale" units="raw" type="float" elements="1" defaultvalue="1.0"/>
-        <field name="AirspeedSensorType" units="" type="enum" elements="1" options="EagleTreeAirspeedV3,DIYDronesMPXV5004,DIYDronesMPXV7002,GPSOnly"  defaultvalue="DIYDronesMPXV7002"/>
+        <field name="AirspeedSensorType" units="" type="enum" elements="1" options="EagleTreeAirspeedV3,DIYDronesMPXV5004,DIYDronesMPXV7002"  defaultvalue="DIYDronesMPXV7002"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="onchange" period="0"/>