diff --git a/flight/Modules/Battery/battery.c b/flight/Modules/Battery/battery.c
index afcfd9300..f25b925b1 100644
--- a/flight/Modules/Battery/battery.c
+++ b/flight/Modules/Battery/battery.c
@@ -88,7 +88,7 @@ int32_t BatteryInitialize(void)
 	HwSettingsOptionalModulesGet(optionalModules);
 	HwSettingsADCRoutingGet(adcRouting);
 
-	//Determine if the 
+	//Determine if the battery sensors are routed to ADC pins 
 	for (int i=0; i < HWSETTINGS_ADCROUTING_NUMELEM; i++) {
 		if (adcRouting[i] == HWSETTINGS_ADCROUTING_VOLTAGE) {
 			voltageADCPin = i;
diff --git a/flight/PiOS/Common/pios_mpxv5004.c b/flight/PiOS/Common/pios_mpxv5004.c
new file mode 100644
index 000000000..fbab5001b
--- /dev/null
+++ b/flight/PiOS/Common/pios_mpxv5004.c
@@ -0,0 +1,105 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_MPXV5004 MPXV5004 Functions
+ * @brief Hardware functions to deal with the DIYDrones airspeed kit, using MPXV5004. 
+ *    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
+ * @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_MPXV5004)
+
+#include "pios_mpxv5004.h"
+
+static uint32_t calibrationSum = 0; //static?
+static int16_t calibrationOffset; //static?
+
+
+/*
+ * Reads ADC.
+ */
+uint16_t PIOS_MPXV5004_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_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
+}
+
+
+/*
+ * 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 sensorVal = PIOS_MPXV5004_Measure(airspeedADCPin);
+	if (sensorVal == 0) //As of June 20th, 2012, the ADC read module was written in such a way that it reset the value to 0 immediately after a read. In case another module inadvertently reads the ADC, we prefer not to use a reading of 0
+		return -1;
+	
+	//Calculate dynamic pressure, as per docs
+	float Qc = 5.0f*(((sensorVal - calibrationOffset)/4096.0f*3.3f)/VCC - 0.2f);
+
+	//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 > 80) { //in [m/s]
+		calibratedAirspeed=80;
+	}
+	
+	
+	return calibratedAirspeed;
+}
+
+#endif /* PIOS_INCLUDE_MPXV5004 */
diff --git a/flight/PiOS/Common/pios_mpxv7002.c b/flight/PiOS/Common/pios_mpxv7002.c
new file mode 100644
index 000000000..68384ccc8
--- /dev/null
+++ b/flight/PiOS/Common/pios_mpxv7002.c
@@ -0,0 +1,105 @@
+/**
+ ******************************************************************************
+ * @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);
+	if (sensorVal == 0) //As of June 20th, 2012, the ADC read module was written in such a way that it reset the value to 0 immediately after a read. In case someone else reads the ADC inadvertently, we prefer not to use a reading of 0
+		return -1;
+	
+	//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_mpxv5004.h
new file mode 100644
index 000000000..2ebf1dee9
--- /dev/null
+++ b/flight/PiOS/inc/pios_mpxv5004.h
@@ -0,0 +1,43 @@
+/**
+  ******************************************************************************
+  * @addtogroup PIOS PIOS Core hardware abstraction layer
+  * @{
+  * @addtogroup PIOS_MPXV5004 MPXV5004 Functions
+  * @brief Hardware functions to deal with the DIYDrones airspeed kit, using MPXV5004
+  * @{
+  *
+  * @file       pios_mpxv5004.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_MPXV5004_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_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);
+
+#endif // PIOS_MPXV5004_H__
\ No newline at end of file
diff --git a/flight/PiOS/inc/pios_mpxv7002.h b/flight/PiOS/inc/pios_mpxv7002.h
new file mode 100644
index 000000000..5f9a8f3a7
--- /dev/null
+++ b/flight/PiOS/inc/pios_mpxv7002.h
@@ -0,0 +1,43 @@
+/**
+  ******************************************************************************
+  * @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 2f84dd8de..015985662 100644
--- a/flight/PiOS/pios.h
+++ b/flight/PiOS/pios.h
@@ -100,7 +100,15 @@
 /* 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>
+#endif
+#if defined(PIOS_INCLUDE_ETASV3)
 #include <pios_etasv3.h>
+#endif
 #if defined(PIOS_INCLUDE_BMP085)
 #include <pios_bmp085.h>
 #endif
diff --git a/flight/Revolution/Makefile b/flight/Revolution/Makefile
index 96e3fb4de..dd8bfdba4 100644
--- a/flight/Revolution/Makefile
+++ b/flight/Revolution/Makefile
@@ -149,6 +149,8 @@ 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_l3gd20.c
 SRC += $(PIOSCOMMON)/pios_hmc5883.c
 SRC += $(PIOSCOMMON)/pios_ms5611.c
diff --git a/flight/Revolution/System/inc/pios_config.h b/flight/Revolution/System/inc/pios_config.h
index 3129439e5..d4afe9d36 100644
--- a/flight/Revolution/System/inc/pios_config.h
+++ b/flight/Revolution/System/inc/pios_config.h
@@ -64,6 +64,8 @@
 #define PIOS_INCLUDE_L3GD20
 #define PIOS_INCLUDE_MS5611
 #define PIOS_INCLUDE_ETASV3
+//#define PIOS_INCLUDE_MPXV5004
+//#define PIOS_INCLUDE_MPXV7002
 //#define PIOS_INCLUDE_HCSR04
 #define PIOS_FLASH_ON_ACCEL /* true for second revo */
 #define FLASH_FREERTOS